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Datasets:
bensprenger
/
purple_test_2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
Libraries:
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Dask
License:
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action
sequence
observation.state
sequence
timestamp
float32
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24.9
frame_index
int64
0
746
episode_index
int64
0
1
index
int64
0
1.49k
task_index
int64
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72
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[ 3.076171875, 186.240234375, 172.6171875, 80.419921875, -87.1875, 0 ]
[ 5.9765625, 186.50390625, 172.44140625, 78.3984375, -89.560546875, 1.227436900138855 ]
2.433333
73
0
73
0
[ 2.373046875, 186.240234375, 172.6171875, 80.419921875, -87.1875, 0 ]
[ 3.955078125, 186.50390625, 172.6171875, 78.3984375, -88.2421875, 1.227436900138855 ]
2.466667
74
0
74
0
[ 1.845703125, 186.240234375, 172.6171875, 80.419921875, -87.1875, 0 ]
[ 3.8671875, 186.50390625, 172.6171875, 78.3984375, -88.06640625, 1.227436900138855 ]
2.5
75
0
75
0
[ 1.40625, 186.240234375, 172.6171875, 80.419921875, -87.1875, 0 ]
[ 3.603515625, 186.50390625, 172.705078125, 78.3984375, -87.71484375, 1.227436900138855 ]
2.533333
76
0
76
0
[ 0.87890625, 186.240234375, 172.6171875, 80.419921875, -87.1875, 0 ]
[ 2.021484375, 186.50390625, 172.705078125, 78.486328125, -87.5390625, 1.227436900138855 ]
2.566667
77
0
77
0
[ 0.3515625, 186.240234375, 172.6171875, 80.419921875, -87.1875, 0 ]
[ 2.197265625, 186.50390625, 172.705078125, 78.486328125, -87.36328125, 1.227436900138855 ]
2.6
78
0
78
0
[ 0.3515625, 186.240234375, 172.6171875, 80.419921875, -87.1875, 0 ]
[ 1.93359375, 186.50390625, 172.705078125, 78.486328125, -87.36328125, 1.227436900138855 ]
2.633333
79
0
79
0
[ 0.703125, 186.240234375, 172.6171875, 80.15625, -87.275390625, 0 ]
[ 0.615234375, 186.50390625, 172.705078125, 78.57421875, -87.36328125, 1.227436900138855 ]
2.666667
80
0
80
0
[ 1.142578125, 186.240234375, 172.6171875, 79.98046875, -87.451171875, 0 ]
[ 1.0546875, 186.50390625, 172.705078125, 78.57421875, -87.36328125, 1.227436900138855 ]
2.7
81
0
81
0
[ 1.7578125, 186.240234375, 172.6171875, 79.8046875, -87.5390625, 0 ]
[ 1.318359375, 186.50390625, 172.705078125, 78.57421875, -87.36328125, 1.227436900138855 ]
2.733333
82
0
82
0
[ 2.4609375, 186.240234375, 172.6171875, 79.62890625, -88.2421875, 0 ]
[ 0.52734375, 186.50390625, 172.705078125, 78.57421875, -87.36328125, 1.227436900138855 ]
2.766667
83
0
83
0
[ 3.69140625, 185.888671875, 172.529296875, 79.013671875, -89.560546875, 0 ]
[ 1.142578125, 186.50390625, 172.705078125, 78.57421875, -87.36328125, 1.227436900138855 ]
2.8
84
0
84
0
[ 4.74609375, 184.833984375, 172.529296875, 78.22265625, -91.0546875, 0 ]
[ 2.28515625, 186.50390625, 172.705078125, 78.57421875, -87.5390625, 1.227436900138855 ]
2.833333
85
0
85
0
[ 5.80078125, 183.603515625, 172.265625, 77.431640625, -93.33984375, 0 ]
[ 1.669921875, 186.50390625, 172.705078125, 78.57421875, -87.71484375, 1.227436900138855 ]
2.866667
86
0
86
0
[ 6.064453125, 182.197265625, 171.9140625, 76.81640625, -94.921875, 0 ]
[ 1.93359375, 186.50390625, 172.705078125, 78.57421875, -87.71484375, 1.227436900138855 ]
2.9
87
0
87
0
[ 6.240234375, 180, 170.947265625, 75.76171875, -95.712890625, 0 ]
[ 2.98828125, 185.712890625, 172.6171875, 78.57421875, -87.71484375, 1.227436900138855 ]
2.933333
88
0
88
0
[ 6.85546875, 177.099609375, 169.189453125, 74.619140625, -96.50390625, 0 ]
[ 5.09765625, 184.04296875, 172.529296875, 77.6953125, -88.59375, 1.227436900138855 ]
2.966667
89
0
89
0
[ 7.20703125, 174.0234375, 166.9921875, 73.388671875, -96.50390625, 0 ]
[ 5.44921875, 182.724609375, 172.529296875, 76.728515625, -90.966796875, 1.227436900138855 ]
3
90
0
90
0
[ 7.119140625, 171.123046875, 164.53125, 72.7734375, -95.537109375, 0 ]
[ 5.44921875, 179.384765625, 171.826171875, 75.5859375, -93.1640625, 1.227436900138855 ]
3.033333
91
0
91
0
[ 7.03125, 168.046875, 161.630859375, 72.861328125, -95.009765625, 0 ]
[ 6.6796875, 176.220703125, 170.419921875, 74.35546875, -94.21875, 1.227436900138855 ]
3.066667
92
0
92
0
[ 7.03125, 165.41015625, 158.818359375, 73.30078125, -95.2734375, 0 ]
[ 6.85546875, 173.232421875, 168.662109375, 74.267578125, -94.306640625, 1.227436900138855 ]
3.1
93
0
93
0
[ 6.767578125, 163.037109375, 156.181640625, 73.740234375, -94.833984375, 0 ]
[ 6.15234375, 170.68359375, 166.728515625, 74.091796875, -94.39453125, 1.227436900138855 ]
3.133333
94
0
94
0
[ 6.6796875, 160.83984375, 153.720703125, 74.35546875, -95.009765625, 0 ]
[ 6.6796875, 169.453125, 165.41015625, 73.740234375, -94.482421875, 1.227436900138855 ]
3.166667
95
0
95
0
[ 6.591796875, 158.90625, 151.259765625, 75.05859375, -95.185546875, 0 ]
[ 6.943359375, 166.11328125, 163.65234375, 74.00390625, -94.482421875, 1.227436900138855 ]
3.2
96
0
96
0
[ 6.328125, 157.32421875, 149.0625, 75.5859375, -94.921875, 0 ]
[ 6.240234375, 163.916015625, 161.54296875, 74.00390625, -94.482421875, 1.227436900138855 ]
3.233333
97
0
97
0
[ 6.064453125, 155.478515625, 146.953125, 76.11328125, -94.74609375, 0 ]
[ 6.240234375, 161.103515625, 158.5546875, 74.53125, -94.658203125, 1.227436900138855 ]
3.266667
98
0
98
0
[ 5.9765625, 153.720703125, 144.931640625, 76.640625, -94.74609375, 0.09765625 ]
[ 6.591796875, 158.90625, 155.390625, 75.146484375, -94.658203125, 1.227436900138855 ]
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": 2,
    "total_frames": 1494,
    "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": {
            "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": [
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                "width",
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                "video.height": 480,
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                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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                "has_audio": false
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        },
        "observation.images.phone": {
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            "shape": [
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                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": "av1",
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                "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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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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