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Datasets:
salhotra
/
so100wrist_pick_waterproof_connector

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100wrist
tutorial
Libraries:
Datasets
Dask
License:
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xet
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action
sequence
observation.state
sequence
timestamp
float32
0
15.3
frame_index
int64
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458
episode_index
int64
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29
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int64
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12.3k
task_index
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[ -3.251953125, 70.048828125, 66.97265625, 78.75, -82.880859375, 49.68986892700195 ]
2.433333
73
0
73
0
[ -4.833984375, 67.412109375, 58.798828125, 78.134765625, -82.6171875, 49.76744079589844 ]
[ -3.515625, 68.90625, 66.26953125, 78.75, -82.880859375, 49.68986892700195 ]
2.466667
74
0
74
0
[ -5.009765625, 66.357421875, 57.919921875, 78.134765625, -82.6171875, 49.76744079589844 ]
[ -3.69140625, 67.67578125, 65.654296875, 78.75, -82.880859375, 49.68986892700195 ]
2.5
75
0
75
0
[ -5.009765625, 65.390625, 57.12890625, 78.134765625, -82.529296875, 49.76744079589844 ]
[ -3.8671875, 66.357421875, 64.775390625, 78.75, -82.880859375, 49.68986892700195 ]
2.533333
76
0
76
0
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[ -3.955078125, 65.390625, 64.072265625, 78.75, -82.880859375, 49.68986892700195 ]
2.566667
77
0
77
0
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[ -4.04296875, 64.51171875, 63.544921875, 78.75, -82.79296875, 49.68986892700195 ]
2.6
78
0
78
0
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[ -4.04296875, 63.6328125, 62.841796875, 78.75, -82.705078125, 49.68986892700195 ]
2.633333
79
0
79
0
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[ -4.04296875, 62.9296875, 62.2265625, 78.75, -82.705078125, 49.68986892700195 ]
2.666667
80
0
80
0
[ -3.69140625, 61.875, 54.84375, 78.134765625, -82.529296875, 49.953487396240234 ]
[ -4.04296875, 62.138671875, 61.787109375, 78.75, -82.705078125, 49.68986892700195 ]
2.7
81
0
81
0
[ -3.33984375, 61.5234375, 54.84375, 78.134765625, -82.529296875, 49.76744079589844 ]
[ -3.955078125, 61.259765625, 61.34765625, 78.75, -82.705078125, 49.68986892700195 ]
2.733333
82
0
82
0
[ -3.1640625, 61.171875, 54.84375, 78.22265625, -82.529296875, 49.76744079589844 ]
[ -3.779296875, 60.908203125, 61.083984375, 78.75, -82.705078125, 49.68986892700195 ]
2.766667
83
0
83
0
[ -2.900390625, 60.732421875, 54.84375, 78.22265625, -82.529296875, 49.76744079589844 ]
[ -3.515625, 60.556640625, 60.908203125, 78.75, -82.705078125, 49.68986892700195 ]
2.8
84
0
84
0
[ -2.724609375, 60.205078125, 54.84375, 78.22265625, -82.529296875, 49.76744079589844 ]
[ -3.1640625, 60.1171875, 60.64453125, 78.75, -82.705078125, 49.68986892700195 ]
2.833333
85
0
85
0
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2.866667
86
0
86
0
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[ -2.8125, 59.150390625, 60.205078125, 78.75, -82.705078125, 49.68986892700195 ]
2.9
87
0
87
0
[ -2.373046875, 59.326171875, 54.84375, 78.22265625, -82.529296875, 49.581398010253906 ]
[ -2.724609375, 58.88671875, 60.205078125, 78.75, -82.705078125, 49.68986892700195 ]
2.933333
88
0
88
0
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[ -2.724609375, 58.623046875, 60.1171875, 78.75, -82.705078125, 49.68986892700195 ]
2.966667
89
0
89
0
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[ -2.548828125, 58.53515625, 60.1171875, 78.75, -82.705078125, 49.68986892700195 ]
3
90
0
90
0
[ -2.197265625, 58.974609375, 55.01953125, 78.22265625, -82.529296875, 48.930233001708984 ]
[ -2.4609375, 58.53515625, 60.029296875, 78.75, -82.705078125, 49.68986892700195 ]
3.033333
91
0
91
0
[ -2.021484375, 58.7109375, 55.01953125, 78.22265625, -82.529296875, 48.46511459350586 ]
[ -2.4609375, 58.447265625, 60.029296875, 78.75, -82.705078125, 49.68986892700195 ]
3.066667
92
0
92
0
[ -1.845703125, 58.447265625, 55.01953125, 78.22265625, -82.529296875, 48.09302520751953 ]
[ -2.4609375, 58.18359375, 60.029296875, 78.75, -82.705078125, 49.4141960144043 ]
3.1
93
0
93
0
[ -1.669921875, 58.095703125, 55.01953125, 78.22265625, -82.529296875, 47.906978607177734 ]
[ -2.4609375, 58.0078125, 60.029296875, 78.75, -82.705078125, 49.00069046020508 ]
3.133333
94
0
94
0
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[ -2.373046875, 57.48046875, 60.029296875, 78.75, -82.705078125, 48.65610122680664 ]
3.166667
95
0
95
0
[ -1.494140625, 57.48046875, 54.931640625, 78.22265625, -82.6171875, 47.534881591796875 ]
[ -2.197265625, 57.12890625, 60.029296875, 78.75, -82.705078125, 48.380428314208984 ]
3.2
96
0
96
0
[ -1.494140625, 57.12890625, 54.931640625, 78.22265625, -82.6171875, 47.34883499145508 ]
[ -1.845703125, 56.953125, 60.029296875, 78.75, -82.705078125, 48.10475540161133 ]
3.233333
97
0
97
0
[ -1.494140625, 56.689453125, 54.931640625, 78.22265625, -82.6171875, 47.069766998291016 ]
[ -1.494140625, 56.42578125, 59.94140625, 78.75, -82.705078125, 47.89799880981445 ]
3.266667
98
0
98
0
[ -1.494140625, 56.162109375, 54.931640625, 78.22265625, -82.6171875, 46.88372039794922 ]
[ -1.23046875, 56.162109375, 59.765625, 78.662109375, -82.705078125, 47.691246032714844 ]
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": "so100wrist",
    "total_episodes": 2,
    "total_frames": 853,
    "total_tasks": 1,
    "total_videos": 2,
    "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": {
            "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.wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
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            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

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