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Datasets:
samsam0510
/
cube_reorientation_2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
100K - 1M
Tags:
LeRobot
so100
reorientation
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
1
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action
sequence
observation.state
sequence
timestamp
float32
0
39.2
frame_index
int64
0
1.18k
episode_index
int64
0
181
index
int64
0
116k
task_index
int64
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[ -23.90625, 100.810546875, 126.474609375, 49.658203125, 26.630859375, 0.7047216296195984 ]
2.4
72
0
72
0
[ -20.91796875, 102.65625, 126.474609375, 50.009765625, 27.158203125, -0.16260161995887756 ]
[ -23.37890625, 100.810546875, 126.474609375, 49.658203125, 26.630859375, 0.7047216296195984 ]
2.433333
73
0
73
0
[ -20.390625, 102.744140625, 126.826171875, 50.009765625, 27.0703125, -0.16260161995887756 ]
[ -22.67578125, 100.810546875, 126.5625, 49.658203125, 26.630859375, 0.7047216296195984 ]
2.466667
74
0
74
0
[ -19.951171875, 102.83203125, 127.177734375, 50.09765625, 27.0703125, -0.16260161995887756 ]
[ -21.97265625, 100.810546875, 126.73828125, 49.833984375, 26.630859375, 0.7047216296195984 ]
2.5
75
0
75
0
[ -19.51171875, 102.83203125, 127.529296875, 50.185546875, 27.0703125, -0.16260161995887756 ]
[ -21.09375, 100.810546875, 126.73828125, 49.833984375, 26.630859375, 0.7047216296195984 ]
2.533333
76
0
76
0
[ -19.072265625, 102.83203125, 127.79296875, 50.2734375, 26.982421875, -0.16260161995887756 ]
[ -20.56640625, 100.810546875, 127.08984375, 49.658203125, 26.630859375, 0.7047216296195984 ]
2.566667
77
0
77
0
[ -18.720703125, 102.744140625, 127.96875, 50.44921875, 26.982421875, -0.16260161995887756 ]
[ -20.126953125, 100.810546875, 127.44140625, 49.833984375, 26.54296875, 0.7047216296195984 ]
2.6
78
0
78
0
[ -18.28125, 102.65625, 127.96875, 50.712890625, 26.982421875, -0.16260161995887756 ]
[ -19.775390625, 100.810546875, 127.529296875, 49.833984375, 26.279296875, 0.7047216296195984 ]
2.633333
79
0
79
0
[ -17.9296875, 102.65625, 128.056640625, 50.9765625, 26.982421875, -0.16260161995887756 ]
[ -19.248046875, 100.810546875, 127.6171875, 49.833984375, 26.103515625, 0.7047216296195984 ]
2.666667
80
0
80
0
[ -17.490234375, 102.744140625, 128.14453125, 51.15234375, 26.982421875, -0.16260161995887756 ]
[ -18.896484375, 100.810546875, 127.6171875, 49.833984375, 26.103515625, 0.7047216296195984 ]
2.7
81
0
81
0
[ -16.962890625, 102.919921875, 128.232421875, 51.416015625, 26.982421875, -0.16260161995887756 ]
[ -18.369140625, 100.810546875, 127.96875, 49.833984375, 26.103515625, 0.7047216296195984 ]
2.733333
82
0
82
0
[ -16.435546875, 103.0078125, 128.232421875, 51.85546875, 26.89453125, -0.16260161995887756 ]
[ -17.9296875, 100.810546875, 128.408203125, 50.009765625, 26.103515625, 0.7047216296195984 ]
2.766667
83
0
83
0
[ -15.8203125, 103.18359375, 128.14453125, 52.3828125, 26.71875, -0.16260161995887756 ]
[ -17.40234375, 100.810546875, 128.671875, 50.361328125, 26.103515625, 0.7047216296195984 ]
2.8
84
0
84
0
[ -15.205078125, 103.359375, 128.14453125, 52.91015625, 26.54296875, -0.16260161995887756 ]
[ -16.962890625, 100.810546875, 128.759765625, 50.625, 26.103515625, 0.7047216296195984 ]
2.833333
85
0
85
0
[ -14.58984375, 103.623046875, 128.14453125, 53.4375, 26.279296875, -0.16260161995887756 ]
[ -16.435546875, 100.810546875, 128.759765625, 50.9765625, 26.103515625, 0.7047216296195984 ]
2.866667
86
0
86
0
[ -13.974609375, 103.798828125, 128.056640625, 53.96484375, 26.103515625, -0.16260161995887756 ]
[ -15.99609375, 100.810546875, 128.759765625, 51.416015625, 26.103515625, 0.7047216296195984 ]
2.9
87
0
87
0
[ -13.359375, 104.0625, 128.056640625, 54.580078125, 25.83984375, -0.16260161995887756 ]
[ -15.380859375, 100.810546875, 128.759765625, 51.85546875, 26.103515625, 0.7047216296195984 ]
2.933333
88
0
88
0
[ -12.744140625, 104.326171875, 128.056640625, 55.283203125, 25.576171875, -0.16260161995887756 ]
[ -14.677734375, 100.810546875, 128.759765625, 52.294921875, 26.015625, 0.7047216296195984 ]
2.966667
89
0
89
0
[ -12.12890625, 104.677734375, 128.056640625, 55.8984375, 25.3125, -0.16260161995887756 ]
[ -13.974609375, 100.810546875, 128.759765625, 52.91015625, 25.576171875, 0.7047216296195984 ]
3
90
0
90
0
[ -11.42578125, 105.029296875, 128.056640625, 56.42578125, 25.048828125, -0.16260161995887756 ]
[ -13.447265625, 100.810546875, 128.759765625, 53.61328125, 25.3125, 0.7047216296195984 ]
3.033333
91
0
91
0
[ -10.72265625, 105.1171875, 128.056640625, 56.865234375, 24.697265625, -0.16260161995887756 ]
[ -13.0078125, 100.810546875, 128.759765625, 54.052734375, 25.224609375, 0.7047216296195984 ]
3.066667
92
0
92
0
[ -10.107421875, 105.205078125, 128.056640625, 57.3046875, 24.345703125, -0.16260161995887756 ]
[ -12.48046875, 100.810546875, 128.759765625, 54.580078125, 24.9609375, 0.7047216296195984 ]
3.1
93
0
93
0
[ -9.404296875, 105.29296875, 128.056640625, 57.568359375, 23.994140625, -0.16260161995887756 ]
[ -11.77734375, 100.810546875, 128.759765625, 55.107421875, 24.609375, 0.7047216296195984 ]
3.133333
94
0
94
0
[ -8.7890625, 105.29296875, 128.232421875, 57.744140625, 23.642578125, -0.16260161995887756 ]
[ -11.07421875, 100.810546875, 128.759765625, 55.72265625, 24.2578125, 0.7047216296195984 ]
3.166667
95
0
95
0
[ -8.0859375, 105.556640625, 128.49609375, 57.83203125, 23.203125, -0.16260161995887756 ]
[ -10.458984375, 100.810546875, 128.759765625, 56.162109375, 23.73046875, 0.7047216296195984 ]
3.2
96
0
96
0
[ -7.470703125, 105.8203125, 128.84765625, 57.83203125, 22.763671875, -0.16260161995887756 ]
[ -9.755859375, 100.810546875, 128.759765625, 56.337890625, 23.37890625, 0.7047216296195984 ]
3.233333
97
0
97
0
[ -6.943359375, 106.259765625, 129.19921875, 57.83203125, 22.32421875, -0.16260161995887756 ]
[ -9.228515625, 100.810546875, 128.759765625, 56.513671875, 23.115234375, 0.7047216296195984 ]
3.266667
98
0
98
0
[ -6.328125, 106.875, 129.638671875, 57.83203125, 21.97265625, -0.16260161995887756 ]
[ -8.525390625, 100.810546875, 128.759765625, 56.6015625, 22.587890625, 0.7047216296195984 ]
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": "v2.0",
    "robot_type": "so100",
    "total_episodes": 182,
    "total_frames": 115586,
    "total_tasks": 1,
    "total_videos": 364,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:182"
    },
    "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.laptop": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
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            "info": {
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                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.phone": {
            "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": "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": {
            "dtype": "int64",
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                1
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        },
        "task_index": {
            "dtype": "int64",
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
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Number of rows:
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