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Datasets:
ZCM5115
/
so100_1210

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
tutorial
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License:
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action
sequence
observation.state
sequence
timestamp
float32
0
8.9
frame_index
int64
0
267
episode_index
int64
0
49
index
int64
0
13.3k
task_index
int64
0
0
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[ 19.423828125, 39.638671875, 27.861328125, 96.15234375, -29.794921875, 1.1572498083114624 ]
2.433333
73
0
73
0
[ 18.369140625, 44.296875, 23.90625, 96.6796875, -30.9375, 0.1785714328289032 ]
[ 19.16015625, 39.638671875, 27.0703125, 96.15234375, -29.00390625, 1.1572498083114624 ]
2.466667
74
0
74
0
[ 18.10546875, 45.87890625, 22.67578125, 96.6796875, -31.376953125, 0.1785714328289032 ]
[ 18.720703125, 39.638671875, 26.54296875, 96.15234375, -29.1796875, 1.1572498083114624 ]
2.5
75
0
75
0
[ 17.841796875, 47.8125, 21.533203125, 96.6796875, -31.81640625, 0.1785714328289032 ]
[ 18.45703125, 39.814453125, 25.48828125, 96.15234375, -29.970703125, 1.1572498083114624 ]
2.533333
76
0
76
0
[ 17.490234375, 50.09765625, 20.21484375, 96.6796875, -32.080078125, 0.1785714328289032 ]
[ 17.841796875, 40.517578125, 24.169921875, 96.15234375, -30.9375, 1.1572498083114624 ]
2.566667
77
0
77
0
[ 16.962890625, 52.734375, 18.544921875, 96.6796875, -32.255859375, 0.1785714328289032 ]
[ 17.2265625, 42.275390625, 23.115234375, 96.15234375, -31.025390625, 1.1572498083114624 ]
2.6
78
0
78
0
[ 16.69921875, 54.84375, 15.8203125, 96.6796875, -31.552734375, 0.1785714328289032 ]
[ 16.875, 45, 21.97265625, 96.15234375, -32.080078125, 1.1572498083114624 ]
2.633333
79
0
79
0
[ 16.611328125, 56.162109375, 13.623046875, 96.6796875, -31.2890625, 0.1785714328289032 ]
[ 16.69921875, 46.845703125, 20.302734375, 96.15234375, -31.81640625, 1.1572498083114624 ]
2.666667
80
0
80
0
[ 16.611328125, 57.392578125, 11.25, 96.6796875, -31.728515625, 0.1785714328289032 ]
[ 16.5234375, 48.955078125, 17.841796875, 96.15234375, -31.025390625, 1.1572498083114624 ]
2.7
81
0
81
0
[ 16.962890625, 58.095703125, 8.349609375, 96.6796875, -32.34375, 0.0892857164144516 ]
[ 16.435546875, 50.9765625, 15.64453125, 96.15234375, -31.11328125, 1.1572498083114624 ]
2.733333
82
0
82
0
[ 17.578125, 58.271484375, 4.5703125, 96.591796875, -33.662109375, 0 ]
[ 16.34765625, 52.55859375, 13.447265625, 96.15234375, -31.201171875, 1.1572498083114624 ]
2.766667
83
0
83
0
[ 18.80859375, 58.095703125, 0, 95.9765625, -36.123046875, 0 ]
[ 16.34765625, 54.052734375, 9.755859375, 96.15234375, -32.255859375, 1.1572498083114624 ]
2.8
84
0
84
0
[ 19.951171875, 58.095703125, -2.197265625, 94.921875, -37.44140625, -0.0892857164144516 ]
[ 16.259765625, 54.580078125, 6.591796875, 96.15234375, -32.958984375, 1.1572498083114624 ]
2.833333
85
0
85
0
[ 21.005859375, 58.095703125, -3.779296875, 94.130859375, -39.814453125, -0.0892857164144516 ]
[ 17.138671875, 54.66796875, 3.515625, 95.625, -34.1015625, 1.1572498083114624 ]
2.866667
86
0
86
0
[ 22.236328125, 57.744140625, -5.625, 92.724609375, -42.1875, -0.0892857164144516 ]
[ 18.10546875, 54.66796875, 0.263671875, 94.74609375, -37.177734375, 1.1572498083114624 ]
2.9
87
0
87
0
[ 23.73046875, 57.041015625, -7.119140625, 91.0546875, -45.966796875, -0.0892857164144516 ]
[ 20.0390625, 54.66796875, -1.40625, 94.39453125, -39.0234375, 1.1572498083114624 ]
2.933333
88
0
88
0
[ 24.873046875, 55.986328125, -8.525390625, 89.296875, -48.427734375, -0.0892857164144516 ]
[ 21.4453125, 54.66796875, -2.98828125, 92.98828125, -41.1328125, 1.1572498083114624 ]
2.966667
89
0
89
0
[ 26.015625, 54.931640625, -9.404296875, 87.451171875, -50.712890625, -0.0892857164144516 ]
[ 22.8515625, 54.66796875, -4.833984375, 91.845703125, -43.76953125, 1.1572498083114624 ]
3
90
0
90
0
[ 26.89453125, 53.96484375, -9.755859375, 86.30859375, -54.404296875, 0 ]
[ 23.818359375, 53.7890625, -6.15234375, 90.52734375, -46.58203125, 1.1572498083114624 ]
3.033333
91
0
91
0
[ 27.7734375, 52.470703125, -11.07421875, 84.638671875, -56.77734375, 0 ]
[ 25.048828125, 52.646484375, -7.294921875, 88.154296875, -49.21875, 1.1572498083114624 ]
3.066667
92
0
92
0
[ 28.65234375, 51.328125, -11.07421875, 83.14453125, -60.29296875, 0 ]
[ 25.83984375, 51.591796875, -8.0859375, 86.484375, -52.998046875, 1.1572498083114624 ]
3.1
93
0
93
0
[ 29.091796875, 50.625, -11.07421875, 82.79296875, -62.841796875, 0 ]
[ 26.279296875, 50.537109375, -9.228515625, 85.078125, -55.458984375, 1.1572498083114624 ]
3.133333
94
0
94
0
[ 29.53125, 49.482421875, -11.07421875, 82.001953125, -64.86328125, 0 ]
[ 27.333984375, 49.21875, -9.31640625, 83.671875, -58.623046875, 1.1572498083114624 ]
3.166667
95
0
95
0
[ 29.794921875, 48.515625, -11.07421875, 82.177734375, -67.587890625, 0 ]
[ 28.037109375, 48.33984375, -9.31640625, 82.96875, -61.34765625, 1.1572498083114624 ]
3.2
96
0
96
0
[ 29.970703125, 47.197265625, -11.162109375, 82.529296875, -70.576171875, 0 ]
[ 28.564453125, 47.4609375, -9.404296875, 82.880859375, -63.369140625, 1.1572498083114624 ]
3.233333
97
0
97
0
[ 30.41015625, 45.966796875, -11.162109375, 82.08984375, -72.158203125, -0.0892857164144516 ]
[ 28.828125, 46.494140625, -9.404296875, 82.79296875, -65.830078125, 1.1572498083114624 ]
3.266667
98
0
98
0
[ 30.849609375, 44.736328125, -11.162109375, 81.5625, -74.00390625, -0.0892857164144516 ]
[ 29.00390625, 45.3515625, -9.404296875, 82.79296875, -68.90625, 1.1572498083114624 ]
3.3
99
0
99
0
End of preview. Expand in Dataset Viewer.

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "so100",
    "total_episodes": 50,
    "total_frames": 13295,
    "total_tasks": 1,
    "total_videos": 100,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
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    "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": {
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                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
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            "names": [
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                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
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        },
        "observation.images.laptop": {
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        "timestamp": {
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        "frame_index": {
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        }
    }
}

Citation

BibTeX:

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