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so101_test1

Tasks:
Robotics
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Size:
1K - 10K
Tags:
LeRobot
so101
tutorial
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Dask
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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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71
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[ -2.98828125, 192.3046875, 185.44921875, 45.17578125, 3.779296875, 6.05042028427124 ]
[ -0.615234375, 191.07421875, 187.646484375, 45.615234375, -0.966796875, 6.310679912567139 ]
2.4
72
0
72
0
[ -2.98828125, 192.3046875, 185.361328125, 45.263671875, 7.119140625, 6.05042028427124 ]
[ -1.142578125, 191.07421875, 187.646484375, 45.615234375, -0.3515625, 6.310679912567139 ]
2.433333
73
0
73
0
[ -2.900390625, 192.3046875, 185.361328125, 45.3515625, 11.162109375, 6.05042028427124 ]
[ -1.494140625, 191.07421875, 187.646484375, 45.615234375, 1.142578125, 6.310679912567139 ]
2.466667
74
0
74
0
[ -2.8125, 192.392578125, 185.361328125, 46.23046875, 15.1171875, 6.05042028427124 ]
[ -1.7578125, 191.07421875, 187.646484375, 45.615234375, 3.1640625, 6.310679912567139 ]
2.5
75
0
75
0
[ -2.28515625, 192.392578125, 185.185546875, 47.28515625, 18.369140625, 6.05042028427124 ]
[ -1.93359375, 191.07421875, 187.646484375, 45.615234375, 5.44921875, 6.310679912567139 ]
2.533333
76
0
76
0
[ -1.0546875, 192.48046875, 185.09765625, 48.33984375, 20.830078125, 6.05042028427124 ]
[ -1.93359375, 191.07421875, 187.646484375, 45.703125, 8.349609375, 6.310679912567139 ]
2.566667
77
0
77
0
[ 0.3515625, 192.48046875, 184.482421875, 49.482421875, 22.1484375, 6.05042028427124 ]
[ -1.93359375, 191.07421875, 187.646484375, 46.318359375, 11.6015625, 6.310679912567139 ]
2.6
78
0
78
0
[ 1.0546875, 192.48046875, 183.603515625, 50.888671875, 22.412109375, 6.05042028427124 ]
[ -1.93359375, 191.07421875, 187.646484375, 47.021484375, 14.677734375, 6.310679912567139 ]
2.633333
79
0
79
0
[ 1.23046875, 192.48046875, 182.8125, 52.03125, 22.412109375, 6.05042028427124 ]
[ -1.669921875, 191.07421875, 187.646484375, 47.8125, 17.314453125, 6.310679912567139 ]
2.666667
80
0
80
0
[ 1.23046875, 192.48046875, 182.109375, 52.822265625, 22.412109375, 6.05042028427124 ]
[ -1.23046875, 191.07421875, 187.470703125, 48.69140625, 18.984375, 6.310679912567139 ]
2.7
81
0
81
0
[ 1.23046875, 192.48046875, 181.7578125, 53.173828125, 22.412109375, 6.05042028427124 ]
[ -0.966796875, 191.07421875, 187.470703125, 49.5703125, 20.0390625, 6.310679912567139 ]
2.733333
82
0
82
0
[ 1.23046875, 192.48046875, 181.7578125, 53.349609375, 22.412109375, 6.05042028427124 ]
[ -0.791015625, 191.07421875, 187.3828125, 50.2734375, 20.7421875, 6.380027770996094 ]
2.766667
83
0
83
0
[ 1.23046875, 192.48046875, 181.7578125, 53.26171875, 22.412109375, 6.05042028427124 ]
[ -0.615234375, 191.07421875, 187.3828125, 50.888671875, 21.181640625, 6.380027770996094 ]
2.8
84
0
84
0
[ 1.0546875, 192.48046875, 181.7578125, 53.349609375, 22.5, 6.05042028427124 ]
[ -0.439453125, 191.07421875, 187.3828125, 51.328125, 21.533203125, 6.380027770996094 ]
2.833333
85
0
85
0
[ 1.0546875, 192.48046875, 181.7578125, 53.349609375, 22.5, 6.05042028427124 ]
[ -0.3515625, 191.07421875, 187.3828125, 51.6796875, 21.796875, 6.380027770996094 ]
2.866667
86
0
86
0
[ 1.0546875, 192.48046875, 181.7578125, 53.349609375, 22.5, 6.05042028427124 ]
[ -0.3515625, 191.07421875, 187.3828125, 52.03125, 21.884765625, 6.380027770996094 ]
2.9
87
0
87
0
[ 1.0546875, 192.48046875, 181.7578125, 53.61328125, 23.02734375, 6.05042028427124 ]
[ -0.3515625, 191.07421875, 187.3828125, 52.20703125, 21.884765625, 6.380027770996094 ]
2.933333
88
0
88
0
[ 1.0546875, 192.48046875, 181.7578125, 53.701171875, 23.02734375, 6.05042028427124 ]
[ -0.3515625, 191.07421875, 187.3828125, 52.470703125, 21.97265625, 6.380027770996094 ]
2.966667
89
0
89
0
[ 1.0546875, 192.48046875, 181.7578125, 53.61328125, 23.115234375, 6.05042028427124 ]
[ -0.3515625, 191.07421875, 187.3828125, 52.646484375, 22.236328125, 6.380027770996094 ]
3
90
0
90
0
[ 1.0546875, 192.48046875, 181.7578125, 53.876953125, 23.115234375, 6.05042028427124 ]
[ -0.3515625, 191.07421875, 187.3828125, 52.91015625, 22.5, 6.380027770996094 ]
3.033333
91
0
91
0
[ 1.0546875, 192.48046875, 181.669921875, 53.96484375, 23.203125, 6.05042028427124 ]
[ -0.3515625, 191.07421875, 187.3828125, 52.998046875, 22.587890625, 6.380027770996094 ]
3.066667
92
0
92
0
[ 1.0546875, 192.392578125, 181.669921875, 53.96484375, 23.203125, 6.05042028427124 ]
[ -0.3515625, 191.07421875, 187.3828125, 52.998046875, 22.67578125, 6.380027770996094 ]
3.1
93
0
93
0
[ 0.966796875, 192.392578125, 181.58203125, 54.052734375, 23.5546875, 6.05042028427124 ]
[ -0.3515625, 191.07421875, 187.3828125, 52.998046875, 22.763671875, 6.380027770996094 ]
3.133333
94
0
94
0
[ 0.966796875, 192.3046875, 181.494140625, 54.140625, 25.048828125, 6.05042028427124 ]
[ -0.3515625, 191.07421875, 187.3828125, 52.998046875, 22.763671875, 6.380027770996094 ]
3.166667
95
0
95
0
[ 0.966796875, 192.12890625, 181.0546875, 54.4921875, 27.24609375, 6.05042028427124 ]
[ -0.3515625, 191.07421875, 187.3828125, 52.998046875, 22.763671875, 6.380027770996094 ]
3.2
96
0
96
0
[ 0.966796875, 192.12890625, 180.3515625, 55.810546875, 29.970703125, 6.05042028427124 ]
[ -0.3515625, 191.07421875, 187.3828125, 52.998046875, 23.37890625, 6.380027770996094 ]
3.233333
97
0
97
0
[ 0.966796875, 192.3046875, 179.384765625, 57.65625, 32.431640625, 6.05042028427124 ]
[ -0.3515625, 191.07421875, 187.3828125, 53.4375, 24.609375, 6.380027770996094 ]
3.266667
98
0
98
0
[ 1.142578125, 192.392578125, 178.154296875, 59.677734375, 34.189453125, 6.05042028427124 ]
[ -0.3515625, 191.07421875, 187.20703125, 54.228515625, 26.279296875, 6.380027770996094 ]
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": 1792,
    "total_tasks": 1,
    "total_videos": 2,
    "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": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "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": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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