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danielritchie
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so101_test2

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Robotics
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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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[ 84.7265625, 182.109375, 181.669921875, 52.734375, -3.076171875, -2.229299306869507 ]
[ 84.638671875, 181.7578125, 177.71484375, 53.173828125, -3.427734375, -0.5617977380752563 ]
2.333333
70
0
70
0
[ 84.7265625, 182.109375, 181.494140625, 52.734375, -3.076171875, -2.653927803039551 ]
[ 84.638671875, 181.7578125, 177.71484375, 53.173828125, -3.33984375, -0.802568256855011 ]
2.366667
71
0
71
0
[ 84.7265625, 182.109375, 180.87890625, 52.822265625, -3.076171875, -2.9723989963531494 ]
[ 84.638671875, 181.7578125, 177.71484375, 53.173828125, -3.33984375, -0.9630818963050842 ]
2.4
72
0
72
0
[ 84.7265625, 182.109375, 179.912109375, 52.822265625, -3.076171875, -3.184713363647461 ]
[ 84.638671875, 181.7578125, 177.71484375, 53.173828125, -3.33984375, -1.043338656425476 ]
2.433333
73
0
73
0
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2.466667
74
0
74
0
[ 84.7265625, 181.40625, 175.95703125, 52.822265625, -2.98828125, -3.609341859817505 ]
[ 84.638671875, 181.7578125, 177.626953125, 53.173828125, -3.33984375, -1.2038522958755493 ]
2.5
75
0
75
0
[ 84.814453125, 181.23046875, 173.935546875, 52.822265625, -2.98828125, -3.8216562271118164 ]
[ 84.638671875, 181.7578125, 177.275390625, 53.173828125, -3.33984375, -1.2038522958755493 ]
2.533333
76
0
76
0
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[ 84.55078125, 181.58203125, 176.8359375, 53.173828125, -3.33984375, -1.2038522958755493 ]
2.566667
77
0
77
0
[ 84.90234375, 180.966796875, 169.541015625, 52.91015625, -3.251953125, -3.9278130531311035 ]
[ 84.55078125, 181.142578125, 175.78125, 53.173828125, -3.33984375, -1.2038522958755493 ]
2.6
78
0
78
0
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[ 84.55078125, 181.23046875, 174.90234375, 53.173828125, -3.427734375, -1.284109115600586 ]
2.633333
79
0
79
0
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[ 84.7265625, 181.23046875, 173.3203125, 53.173828125, -3.427734375, -1.284109115600586 ]
2.666667
80
0
80
0
[ 86.30859375, 180.966796875, 165.76171875, 52.91015625, -3.69140625, -3.9278130531311035 ]
[ 84.55078125, 181.23046875, 171.5625, 53.173828125, -3.515625, -1.284109115600586 ]
2.7
81
0
81
0
[ 87.5390625, 180.966796875, 164.794921875, 52.91015625, -3.69140625, -4.033970355987549 ]
[ 84.990234375, 181.318359375, 170.068359375, 53.173828125, -3.33984375, -1.284109115600586 ]
2.733333
82
0
82
0
[ 88.59375, 180.966796875, 164.1796875, 52.91015625, -3.69140625, -4.033970355987549 ]
[ 85.95703125, 181.318359375, 169.013671875, 53.173828125, -3.427734375, -1.284109115600586 ]
2.766667
83
0
83
0
[ 89.6484375, 180.966796875, 163.388671875, 52.91015625, -3.603515625, -4.140127658843994 ]
[ 86.748046875, 181.23046875, 167.958984375, 53.173828125, -3.427734375, -1.284109115600586 ]
2.8
84
0
84
0
[ 90.439453125, 180.966796875, 162.59765625, 52.91015625, -3.427734375, -4.246284484863281 ]
[ 87.36328125, 181.318359375, 167.34375, 53.173828125, -3.427734375, -1.284109115600586 ]
2.833333
85
0
85
0
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[ 88.59375, 181.318359375, 166.376953125, 53.173828125, -3.427734375, -1.3643659353256226 ]
2.866667
86
0
86
0
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[ 89.47265625, 181.23046875, 165.673828125, 53.173828125, -3.427734375, -1.3643659353256226 ]
2.9
87
0
87
0
[ 92.28515625, 180.615234375, 160.3125, 52.91015625, -3.515625, -4.352441310882568 ]
[ 90.439453125, 181.23046875, 164.619140625, 53.173828125, -3.427734375, -1.3643659353256226 ]
2.933333
88
0
88
0
[ 92.724609375, 179.82421875, 159.521484375, 52.91015625, -3.515625, -4.352441310882568 ]
[ 90.87890625, 181.23046875, 164.267578125, 53.173828125, -3.427734375, -1.3643659353256226 ]
2.966667
89
0
89
0
[ 93.251953125, 177.802734375, 158.02734375, 52.91015625, -3.427734375, -4.458598613739014 ]
[ 91.40625, 180.966796875, 163.125, 53.173828125, -3.515625, -1.3643659353256226 ]
3
90
0
90
0
[ 93.515625, 174.90234375, 156.09375, 52.91015625, -3.076171875, -4.458598613739014 ]
[ 92.28515625, 180.615234375, 162.333984375, 53.173828125, -3.427734375, -1.3643659353256226 ]
3.033333
91
0
91
0
[ 93.69140625, 171.9140625, 153.80859375, 52.91015625, -2.98828125, -4.458598613739014 ]
[ 92.900390625, 179.560546875, 161.279296875, 53.173828125, -3.515625, -1.4446227550506592 ]
3.066667
92
0
92
0
[ 93.69140625, 168.310546875, 150.99609375, 52.91015625, -2.900390625, -4.458598613739014 ]
[ 93.1640625, 177.275390625, 159.697265625, 53.173828125, -3.427734375, -1.4446227550506592 ]
3.1
93
0
93
0
[ 93.69140625, 164.1796875, 147.392578125, 52.91015625, -2.8125, -4.458598613739014 ]
[ 93.251953125, 174.287109375, 157.8515625, 53.173828125, -3.251953125, -1.4446227550506592 ]
3.133333
94
0
94
0
[ 93.69140625, 159.521484375, 143.0859375, 52.91015625, -2.8125, -4.458598613739014 ]
[ 92.98828125, 170.419921875, 155.0390625, 53.173828125, -3.076171875, -1.4446227550506592 ]
3.166667
95
0
95
0
[ 93.779296875, 155.126953125, 139.306640625, 52.91015625, -2.8125, -4.352441310882568 ]
[ 93.076171875, 168.486328125, 153.10546875, 53.173828125, -3.076171875, -1.4446227550506592 ]
3.2
96
0
96
0
[ 93.779296875, 150.46875, 135.52734375, 52.91015625, -2.8125, -4.352441310882568 ]
[ 93.779296875, 164.794921875, 149.501953125, 53.173828125, -3.076171875, -1.4446227550506592 ]
3.233333
97
0
97
0
[ 93.779296875, 145.986328125, 131.8359375, 52.91015625, -2.8125, -4.352441310882568 ]
[ 93.8671875, 161.630859375, 146.953125, 53.173828125, -3.076171875, -1.4446227550506592 ]
3.266667
98
0
98
0
[ 93.8671875, 139.658203125, 126.826171875, 52.998046875, -2.8125, -4.352441310882568 ]
[ 93.8671875, 155.21484375, 141.50390625, 53.173828125, -3.076171875, -1.4446227550506592 ]
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": 536,
    "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.overhead": {
            "dtype": "video",
            "shape": [
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            "names": [
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        "observation.images.desktop": {
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            "names": [
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            "info": {
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        },
        "timestamp": {
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            "shape": [
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            "names": null
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        "frame_index": {
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            "names": null
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        "episode_index": {
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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