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Datasets:
frk2
/
so100handsout

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
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action
sequence
observation.state
sequence
timestamp
float32
0
6.93
frame_index
int64
0
208
episode_index
int64
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4
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task_index
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2.6
78
0
78
0
[ 4.39453125, 64.6875, 56.25, 47.8125, -0.791015625, 0 ]
[ 5.361328125, 70.048828125, 74.794921875, 49.130859375, 0.087890625, 1.7826825380325317 ]
2.633333
79
0
79
0
[ 4.306640625, 62.75390625, 53.525390625, 47.8125, -0.791015625, 0 ]
[ 5.361328125, 68.37890625, 72.24609375, 49.130859375, 0.087890625, 1.7826825380325317 ]
2.666667
80
0
80
0
[ 4.306640625, 60.908203125, 50.9765625, 47.8125, -0.87890625, 0 ]
[ 5.361328125, 66.796875, 69.78515625, 49.130859375, 0.087890625, 1.7826825380325317 ]
2.7
81
0
81
0
[ 4.306640625, 59.150390625, 48.251953125, 47.8125, -0.87890625, 0 ]
[ 5.361328125, 65.0390625, 67.236328125, 49.130859375, 0.087890625, 1.7826825380325317 ]
2.733333
82
0
82
0
[ 4.39453125, 57.48046875, 45.52734375, 47.8125, -0.87890625, 0 ]
[ 5.361328125, 63.193359375, 64.775390625, 49.130859375, 0.087890625, 1.7826825380325317 ]
2.766667
83
0
83
0
[ 4.482421875, 55.810546875, 43.06640625, 47.8125, -0.87890625, 0 ]
[ 5.361328125, 61.435546875, 62.2265625, 49.130859375, 0.087890625, 1.7826825380325317 ]
2.8
84
0
84
0
[ 4.658203125, 54.404296875, 40.693359375, 47.8125, -0.87890625, 0 ]
[ 5.361328125, 59.58984375, 59.677734375, 49.130859375, 0.087890625, 1.7826825380325317 ]
2.833333
85
0
85
0
[ 4.833984375, 52.822265625, 38.232421875, 47.8125, -0.87890625, 0 ]
[ 5.361328125, 57.744140625, 57.12890625, 49.130859375, 0.087890625, 1.7826825380325317 ]
2.866667
86
0
86
0
[ 4.921875, 51.15234375, 35.771484375, 47.8125, -0.87890625, 0 ]
[ 5.361328125, 56.07421875, 54.580078125, 49.130859375, 0.087890625, 1.7826825380325317 ]
2.9
87
0
87
0
[ 5.09765625, 49.5703125, 33.134765625, 47.8125, -0.87890625, 0 ]
[ 5.361328125, 54.404296875, 52.119140625, 49.130859375, 0.087890625, 1.7826825380325317 ]
2.933333
88
0
88
0
[ 5.185546875, 47.900390625, 30.41015625, 47.8125, -0.87890625, 0 ]
[ 5.361328125, 52.822265625, 49.74609375, 49.130859375, 0.087890625, 1.7826825380325317 ]
2.966667
89
0
89
0
[ 5.2734375, 45.966796875, 27.333984375, 47.8125, -0.87890625, 0 ]
[ 5.361328125, 51.15234375, 47.197265625, 49.130859375, 0.087890625, 1.7826825380325317 ]
3
90
0
90
0
[ 5.2734375, 44.033203125, 24.08203125, 47.900390625, -0.966796875, 0 ]
[ 5.361328125, 49.482421875, 44.560546875, 49.130859375, 0.087890625, 1.7826825380325317 ]
3.033333
91
0
91
0
[ 5.2734375, 41.396484375, 19.599609375, 48.33984375, -1.318359375, 0 ]
[ 5.361328125, 47.8125, 41.923828125, 49.130859375, 0.087890625, 1.7826825380325317 ]
3.066667
92
0
92
0
[ 5.185546875, 38.408203125, 14.765625, 48.779296875, -1.7578125, 0 ]
[ 5.361328125, 46.0546875, 39.287109375, 49.130859375, 0.087890625, 1.7826825380325317 ]
3.1
93
0
93
0
[ 5.009765625, 34.62890625, 8.61328125, 49.658203125, -2.28515625, 0 ]
[ 5.361328125, 44.12109375, 36.298828125, 49.130859375, 0, 1.7826825380325317 ]
3.133333
94
0
94
0
[ 4.74609375, 29.619140625, 0.703125, 50.9765625, -3.427734375, 0 ]
[ 5.361328125, 41.8359375, 32.958984375, 49.130859375, -0.263671875, 1.7826825380325317 ]
3.166667
95
0
95
0
[ 4.482421875, 23.818359375, -8.4375, 51.591796875, -4.482421875, 0 ]
[ 5.361328125, 39.375, 29.35546875, 49.306640625, -0.703125, 1.7826825380325317 ]
3.2
96
0
96
0
[ 4.21875, 19.3359375, -14.58984375, 51.064453125, -5.625, 0 ]
[ 5.361328125, 36.5625, 25.13671875, 49.74609375, -1.142578125, 1.7826825380325317 ]
3.233333
97
0
97
0
[ 3.955078125, 19.599609375, -13.88671875, 51.240234375, -5.2734375, 0 ]
[ 5.361328125, 33.310546875, 20.302734375, 50.185546875, -1.845703125, 1.7826825380325317 ]
3.266667
98
0
98
0
[ 3.955078125, 19.3359375, -13.88671875, 51.328125, -3.603515625, 0 ]
[ 5.361328125, 29.619140625, 15.029296875, 50.361328125, -2.63671875, 1.7826825380325317 ]
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": "so100",
    "total_episodes": 5,
    "total_frames": 1045,
    "total_tasks": 1,
    "total_videos": 10,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:5"
    },
    "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": [
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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": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
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                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.top": {
            "dtype": "video",
            "shape": [
                480,
                640,
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            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
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            ],
            "names": null
        },
        "index": {
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                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

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