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Datasets:
wangjl1512
/
pour_water

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
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action
sequence
observation.state
sequence
timestamp
float32
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35.9
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int64
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[ 7.294921875, 173.759765625, 159.697265625, 57.744140625, -40.78125, 16.71257972717285 ]
[ 5.361328125, 175.78125, 164.267578125, 53.96484375, -32.431640625, 14.611486434936523 ]
2.566667
77
0
77
0
[ 7.646484375, 172.79296875, 158.291015625, 59.0625, -42.890625, 17.539026260375977 ]
[ 5.44921875, 174.90234375, 163.65234375, 54.84375, -34.62890625, 15.202702522277832 ]
2.6
78
0
78
0
[ 8.173828125, 171.9140625, 156.884765625, 60.29296875, -44.82421875, 18.18181800842285 ]
[ 5.712890625, 173.935546875, 162.861328125, 55.810546875, -36.826171875, 15.54054069519043 ]
2.633333
79
0
79
0
[ 8.7890625, 170.947265625, 155.390625, 61.5234375, -46.845703125, 18.7327823638916 ]
[ 6.15234375, 172.529296875, 161.630859375, 56.953125, -38.84765625, 16.04729652404785 ]
2.666667
80
0
80
0
[ 9.31640625, 170.244140625, 153.896484375, 62.578125, -48.955078125, 19.191919326782227 ]
[ 6.6796875, 171.650390625, 160.3125, 58.271484375, -40.95703125, 16.807432174682617 ]
2.7
81
0
81
0
[ 9.931640625, 169.62890625, 152.666015625, 63.28125, -50.888671875, 19.742883682250977 ]
[ 7.20703125, 170.947265625, 158.818359375, 59.501953125, -42.890625, 17.314189910888672 ]
2.733333
82
0
82
0
[ 10.458984375, 169.013671875, 151.34765625, 63.896484375, -52.734375, 19.8347110748291 ]
[ 7.734375, 170.15625, 157.5, 60.64453125, -45, 17.905405044555664 ]
2.766667
83
0
83
0
[ 10.8984375, 168.3984375, 150.1171875, 64.3359375, -54.228515625, 20.01836585998535 ]
[ 8.26171875, 169.541015625, 156.005859375, 61.69921875, -46.93359375, 18.32770347595215 ]
2.8
84
0
84
0
[ 11.337890625, 167.958984375, 148.798828125, 64.86328125, -55.634765625, 20.38567543029785 ]
[ 8.7890625, 169.1015625, 154.775390625, 62.314453125, -48.955078125, 18.58108139038086 ]
2.833333
85
0
85
0
[ 11.6015625, 167.51953125, 147.568359375, 65.478515625, -56.953125, 21.12029457092285 ]
[ 9.228515625, 168.486328125, 153.544921875, 63.017578125, -50.888671875, 19.00337791442871 ]
2.866667
86
0
86
0
[ 12.12890625, 166.9921875, 146.25, 66.09375, -58.18359375, 22.03856658935547 ]
[ 9.755859375, 167.87109375, 152.05078125, 63.544921875, -52.734375, 19.341217041015625 ]
2.9
87
0
87
0
[ 12.65625, 166.376953125, 144.755859375, 66.708984375, -59.23828125, 22.03856658935547 ]
[ 10.283203125, 167.34375, 150.732421875, 64.16015625, -53.96484375, 20.016891479492188 ]
2.933333
88
0
88
0
[ 13.271484375, 165.673828125, 143.349609375, 67.1484375, -60.380859375, 22.03856658935547 ]
[ 10.810546875, 166.81640625, 149.4140625, 64.86328125, -55.546875, 20.692567825317383 ]
2.966667
89
0
89
0
[ 13.88671875, 164.8828125, 141.943359375, 67.5, -61.34765625, 22.314048767089844 ]
[ 11.25, 166.2890625, 148.095703125, 65.478515625, -56.953125, 21.199323654174805 ]
3
90
0
90
0
[ 14.677734375, 164.091796875, 140.537109375, 67.8515625, -62.40234375, 22.314048767089844 ]
[ 11.77734375, 165.5859375, 146.77734375, 66.09375, -58.18359375, 21.53716278076172 ]
3.033333
91
0
91
0
[ 15.380859375, 163.30078125, 139.130859375, 68.203125, -63.720703125, 22.497703552246094 ]
[ 12.216796875, 164.970703125, 145.37109375, 66.533203125, -59.4140625, 21.62162208557129 ]
3.066667
92
0
92
0
[ 16.259765625, 162.59765625, 137.900390625, 68.5546875, -65.302734375, 23.048667907714844 ]
[ 12.83203125, 164.267578125, 143.7890625, 66.796875, -60.380859375, 21.62162208557129 ]
3.1
93
0
93
0
[ 17.138671875, 161.806640625, 136.58203125, 68.73046875, -66.708984375, 24.24242401123047 ]
[ 13.623046875, 163.564453125, 142.55859375, 67.236328125, -61.435546875, 21.62162208557129 ]
3.133333
94
0
94
0
[ 18.10546875, 161.103515625, 135.3515625, 68.994140625, -68.291015625, 24.97704315185547 ]
[ 14.501953125, 162.7734375, 141.064453125, 67.587890625, -62.578125, 22.12837791442871 ]
3.166667
95
0
95
0
[ 18.984375, 160.3125, 134.033203125, 69.345703125, -69.697265625, 25.987144470214844 ]
[ 15.46875, 161.982421875, 139.658203125, 67.763671875, -63.984375, 22.804054260253906 ]
3.2
96
0
96
0
[ 19.86328125, 159.609375, 132.802734375, 69.43359375, -71.19140625, 26.81359100341797 ]
[ 16.34765625, 161.279296875, 138.427734375, 67.8515625, -65.478515625, 23.310810089111328 ]
3.233333
97
0
97
0
[ 20.7421875, 158.73046875, 131.66015625, 69.609375, -72.7734375, 27.272727966308594 ]
[ 17.2265625, 160.576171875, 137.28515625, 68.291015625, -66.884765625, 23.986486434936523 ]
3.266667
98
0
98
0
[ 21.62109375, 158.115234375, 130.60546875, 69.9609375, -74.35546875, 28.37465476989746 ]
[ 17.9296875, 159.697265625, 136.0546875, 68.642578125, -68.5546875, 24.83108139038086 ]
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": 11,
    "total_frames": 8006,
    "total_tasks": 1,
    "total_videos": 11,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:11"
    },
    "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.laptop": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "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": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        },
        "index": {
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                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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