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emmanuel-v
/
so101_test_02

Tasks:
Robotics
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Tags:
LeRobot
so101
tutorial
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sequence
observation.state
sequence
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
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0
[ -0.52734375, 190.283203125, 166.46484375, 40.517578125, -6.50390625, 16.385135650634766 ]
[ -1.494140625, 190.01953125, 168.75, 42.890625, -9.228515625, 3.427004814147949 ]
2.5
75
0
75
0
[ -0.439453125, 190.1953125, 166.81640625, 40.517578125, -6.416015625, 19.763513565063477 ]
[ -0.87890625, 190.01953125, 168.75, 42.275390625, -8.26171875, 6.237148761749268 ]
2.533333
76
0
76
0
[ -0.3515625, 189.66796875, 167.080078125, 40.517578125, -6.767578125, 21.114864349365234 ]
[ -0.3515625, 190.01953125, 168.75, 41.923828125, -7.55859375, 9.52707290649414 ]
2.566667
77
0
77
0
[ -0.263671875, 188.7890625, 167.34375, 40.166015625, -6.85546875, 20.777027130126953 ]
[ -0.3515625, 189.931640625, 168.75, 41.66015625, -7.20703125, 13.091158866882324 ]
2.6
78
0
78
0
[ 0.3515625, 187.470703125, 167.51953125, 39.19921875, -6.943359375, 20.439189910888672 ]
[ -0.791015625, 189.84375, 168.75, 41.396484375, -7.20703125, 16.244003295898438 ]
2.633333
79
0
79
0
[ 1.0546875, 185.712890625, 167.607421875, 37.880859375, -6.943359375, 20.439189910888672 ]
[ -0.87890625, 189.228515625, 168.75, 41.044921875, -7.20703125, 18.094585418701172 ]
2.666667
80
0
80
0
[ 1.669921875, 183.69140625, 167.431640625, 36.474609375, -6.943359375, 20.439189910888672 ]
[ -0.263671875, 188.349609375, 168.75, 40.341796875, -7.20703125, 18.779985427856445 ]
2.7
81
0
81
0
[ 2.109375, 181.23046875, 166.81640625, 35.068359375, -7.03125, 20.52364730834961 ]
[ 0.615234375, 187.119140625, 168.75, 39.287109375, -7.20703125, 19.259767532348633 ]
2.733333
82
0
82
0
[ 2.373046875, 178.505859375, 166.2890625, 33.57421875, -7.646484375, 20.692567825317383 ]
[ 1.318359375, 185.537109375, 168.75, 38.14453125, -7.20703125, 19.67100715637207 ]
2.766667
83
0
83
0
[ 2.63671875, 175.4296875, 165.322265625, 32.080078125, -8.4375, 20.692567825317383 ]
[ 1.7578125, 183.603515625, 168.75, 36.9140625, -7.20703125, 19.945167541503906 ]
2.8
84
0
84
0
[ 2.8125, 172.001953125, 164.35546875, 30.9375, -9.140625, 20.692567825317383 ]
[ 1.845703125, 181.40625, 168.75, 35.595703125, -7.470703125, 20.219329833984375 ]
2.833333
85
0
85
0
[ 3.1640625, 168.486328125, 163.037109375, 29.794921875, -9.4921875, 20.777027130126953 ]
[ 1.93359375, 178.681640625, 168.22265625, 34.189453125, -8.0859375, 20.356407165527344 ]
2.866667
86
0
86
0
[ 3.69140625, 164.53125, 161.279296875, 29.091796875, -9.66796875, 20.777027130126953 ]
[ 2.109375, 176.044921875, 167.51953125, 33.046875, -8.525390625, 20.493488311767578 ]
2.9
87
0
87
0
[ 4.130859375, 160.224609375, 159.169921875, 28.4765625, -9.66796875, 20.777027130126953 ]
[ 2.4609375, 173.056640625, 166.552734375, 31.904296875, -8.96484375, 20.493488311767578 ]
2.933333
88
0
88
0
[ 4.482421875, 155.91796875, 156.708984375, 28.125, -9.66796875, 20.777027130126953 ]
[ 3.076171875, 169.62890625, 165.146484375, 30.9375, -9.228515625, 20.493488311767578 ]
2.966667
89
0
89
0
[ 4.921875, 151.34765625, 153.720703125, 28.30078125, -9.66796875, 20.777027130126953 ]
[ 3.779296875, 166.025390625, 163.4765625, 30.146484375, -9.31640625, 20.493488311767578 ]
3
90
0
90
0
[ 5.2734375, 146.689453125, 150.46875, 28.4765625, -9.66796875, 20.777027130126953 ]
[ 4.21875, 162.0703125, 161.455078125, 29.70703125, -9.31640625, 20.493488311767578 ]
3.033333
91
0
91
0
[ 5.80078125, 141.85546875, 147.216796875, 28.65234375, -9.66796875, 20.777027130126953 ]
[ 4.5703125, 158.115234375, 159.169921875, 29.53125, -9.404296875, 20.493488311767578 ]
3.066667
92
0
92
0
[ 6.328125, 137.021484375, 143.701171875, 28.828125, -9.66796875, 20.777027130126953 ]
[ 4.833984375, 153.896484375, 156.533203125, 29.443359375, -9.4921875, 20.493488311767578 ]
3.1
93
0
93
0
[ 6.943359375, 132.099609375, 140.185546875, 29.53125, -9.66796875, 20.777027130126953 ]
[ 4.921875, 149.501953125, 153.6328125, 29.35546875, -9.4921875, 20.493488311767578 ]
3.133333
94
0
94
0
[ 7.734375, 127.177734375, 136.494140625, 30.5859375, -9.755859375, 20.608108520507812 ]
[ 5.361328125, 144.931640625, 150.556640625, 29.35546875, -9.4921875, 20.493488311767578 ]
3.166667
95
0
95
0
[ 8.26171875, 122.34375, 132.978515625, 32.080078125, -9.755859375, 20.439189910888672 ]
[ 6.064453125, 140.2734375, 147.392578125, 29.619140625, -9.4921875, 20.493488311767578 ]
3.2
96
0
96
0
[ 8.701171875, 117.7734375, 129.814453125, 33.662109375, -9.84375, 20.439189910888672 ]
[ 6.767578125, 135.52734375, 143.96484375, 30.234375, -9.4921875, 20.493488311767578 ]
3.233333
97
0
97
0
[ 9.228515625, 113.203125, 126.9140625, 35.068359375, -9.84375, 20.439189910888672 ]
[ 7.55859375, 130.60546875, 140.44921875, 31.2890625, -9.4921875, 20.493488311767578 ]
3.266667
98
0
98
0
[ 9.755859375, 108.80859375, 124.365234375, 36.03515625, -10.546875, 20.439189910888672 ]
[ 8.26171875, 125.595703125, 136.93359375, 32.51953125, -9.4921875, 20.493488311767578 ]
3.3
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "so101",
    "total_episodes": 2,
    "total_frames": 882,
    "total_tasks": 1,
    "total_videos": 4,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "action": {
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            "shape": [
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
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                640,
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            "names": [
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        "observation.images.base": {
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            "names": [
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                "channels"
            ],
            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "video.channels": 3,
                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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