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Datasets:
Taka-Hashimoto
/
so100_touch_dataset

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
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parquet
Size:
1K - 10K
Tags:
LeRobot
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sequence
observation.state
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float32
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5.7
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171
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int64
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2.4
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0
72
0
[ 23.73046875, 100.8984375, 111.09375, 46.23046875, -0.52734375, -2.44343900680542 ]
[ 23.37890625, 102.041015625, 116.54296875, 49.482421875, -0.087890625, -0.4420866370201111 ]
2.433333
73
0
73
0
[ 23.73046875, 100.107421875, 111.09375, 45.3515625, -0.52734375, -2.44343900680542 ]
[ 23.37890625, 101.07421875, 116.54296875, 48.603515625, -0.087890625, -0.4420866370201111 ]
2.466667
74
0
74
0
[ 23.73046875, 99.228515625, 111.09375, 44.6484375, -0.52734375, -2.44343900680542 ]
[ 23.37890625, 100.1953125, 116.54296875, 47.900390625, -0.087890625, -0.4420866370201111 ]
2.5
75
0
75
0
[ 23.73046875, 98.349609375, 111.09375, 43.857421875, -0.52734375, -2.44343900680542 ]
[ 23.37890625, 99.31640625, 116.54296875, 47.021484375, -0.087890625, -0.4420866370201111 ]
2.533333
76
0
76
0
[ 23.73046875, 97.470703125, 111.09375, 43.2421875, -0.52734375, -2.44343900680542 ]
[ 23.37890625, 98.525390625, 116.54296875, 46.23046875, -0.087890625, -0.4420866370201111 ]
2.566667
77
0
77
0
[ 23.73046875, 96.591796875, 111.09375, 42.5390625, -0.52734375, -2.44343900680542 ]
[ 23.37890625, 97.646484375, 116.54296875, 45.439453125, -0.087890625, -0.4420866370201111 ]
2.6
78
0
78
0
[ 23.73046875, 95.712890625, 111.005859375, 41.923828125, -0.52734375, -2.44343900680542 ]
[ 23.37890625, 96.85546875, 116.54296875, 44.82421875, -0.087890625, -0.4420866370201111 ]
2.633333
79
0
79
0
[ 23.818359375, 94.921875, 111.005859375, 41.220703125, -0.52734375, -2.44343900680542 ]
[ 23.37890625, 95.80078125, 116.54296875, 44.033203125, -0.087890625, -0.4420866370201111 ]
2.666667
80
0
80
0
[ 23.818359375, 94.21875, 111.005859375, 40.517578125, -0.439453125, -2.44343900680542 ]
[ 23.37890625, 94.833984375, 116.54296875, 43.330078125, -0.087890625, -0.4420866370201111 ]
2.7
81
0
81
0
[ 23.818359375, 93.515625, 111.005859375, 39.814453125, -0.439453125, -2.44343900680542 ]
[ 23.37890625, 93.955078125, 116.54296875, 42.71484375, -0.087890625, -0.4420866370201111 ]
2.733333
82
0
82
0
[ 23.90625, 92.900390625, 111.005859375, 39.19921875, -0.439453125, -2.44343900680542 ]
[ 23.37890625, 93.251953125, 116.54296875, 42.01171875, -0.087890625, -0.4420866370201111 ]
2.766667
83
0
83
0
[ 23.90625, 92.28515625, 111.005859375, 38.583984375, -0.439453125, -2.44343900680542 ]
[ 23.37890625, 92.63671875, 116.54296875, 41.30859375, -0.087890625, -0.4420866370201111 ]
2.8
84
0
84
0
[ 24.169921875, 91.58203125, 111.005859375, 37.96875, -0.3515625, -2.44343900680542 ]
[ 23.37890625, 92.021484375, 116.54296875, 40.693359375, -0.087890625, -0.4420866370201111 ]
2.833333
85
0
85
0
[ 24.697265625, 90.87890625, 111.005859375, 37.265625, -0.3515625, -2.44343900680542 ]
[ 23.37890625, 91.318359375, 116.54296875, 39.990234375, -0.087890625, -0.4420866370201111 ]
2.866667
86
0
86
0
[ 25.400390625, 90.263671875, 111.005859375, 36.73828125, -0.263671875, -2.44343900680542 ]
[ 23.37890625, 90.703125, 116.54296875, 39.375, -0.087890625, -0.4420866370201111 ]
2.9
87
0
87
0
[ 26.103515625, 89.82421875, 111.005859375, 36.2109375, -0.3515625, -2.44343900680542 ]
[ 23.5546875, 89.912109375, 116.54296875, 38.671875, -0.087890625, -0.4420866370201111 ]
2.933333
88
0
88
0
[ 26.806640625, 89.296875, 111.005859375, 35.68359375, -0.3515625, -2.44343900680542 ]
[ 24.08203125, 89.296875, 116.54296875, 38.056640625, -0.087890625, -0.4420866370201111 ]
2.966667
89
0
89
0
[ 27.24609375, 88.857421875, 111.005859375, 35.15625, -0.439453125, -2.44343900680542 ]
[ 24.697265625, 88.681640625, 116.54296875, 37.529296875, -0.087890625, -0.4420866370201111 ]
3
90
0
90
0
[ 27.421875, 88.41796875, 111.005859375, 34.62890625, -0.439453125, -2.44343900680542 ]
[ 25.3125, 88.2421875, 116.54296875, 37.001953125, -0.087890625, -0.4420866370201111 ]
3.033333
91
0
91
0
[ 27.509765625, 87.978515625, 111.005859375, 34.1015625, -0.439453125, -2.44343900680542 ]
[ 26.015625, 87.626953125, 116.54296875, 36.38671875, -0.087890625, -0.4420866370201111 ]
3.066667
92
0
92
0
[ 27.509765625, 87.5390625, 111.005859375, 33.57421875, -0.439453125, -2.44343900680542 ]
[ 26.630859375, 87.1875, 116.54296875, 35.859375, -0.087890625, -0.4420866370201111 ]
3.1
93
0
93
0
[ 27.509765625, 87.1875, 111.005859375, 33.22265625, -0.439453125, -2.44343900680542 ]
[ 27.0703125, 86.748046875, 116.54296875, 35.33203125, -0.087890625, -0.4420866370201111 ]
3.133333
94
0
94
0
[ 27.509765625, 86.8359375, 111.005859375, 32.87109375, -0.439453125, -2.44343900680542 ]
[ 27.333984375, 86.30859375, 116.54296875, 34.8046875, -0.087890625, -0.4420866370201111 ]
3.166667
95
0
95
0
[ 27.509765625, 86.484375, 111.005859375, 32.51953125, -0.439453125, -2.44343900680542 ]
[ 27.333984375, 85.78125, 116.54296875, 34.453125, -0.087890625, -0.4420866370201111 ]
3.2
96
0
96
0
[ 27.509765625, 86.220703125, 111.005859375, 32.34375, -0.439453125, -2.44343900680542 ]
[ 27.333984375, 85.4296875, 116.54296875, 34.013671875, -0.087890625, -0.4420866370201111 ]
3.233333
97
0
97
0
[ 27.509765625, 85.869140625, 111.005859375, 32.16796875, -0.439453125, -2.44343900680542 ]
[ 27.24609375, 85.25390625, 116.455078125, 33.662109375, -0.087890625, -0.4420866370201111 ]
3.266667
98
0
98
0
[ 27.509765625, 85.693359375, 111.005859375, 31.9921875, -0.439453125, -2.44343900680542 ]
[ 27.158203125, 84.990234375, 116.3671875, 33.3984375, -0.087890625, -0.4420866370201111 ]
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": 100,
    "total_frames": 5474,
    "total_tasks": 1,
    "total_videos": 100,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:100"
    },
    "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.webcam": {
            "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": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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