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1g0rrr
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sam_openpi_test4

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Robotics
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Tags:
LeRobot
openpi
tutorial
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Dask
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action
sequence
observation.state
sequence
timestamp
float32
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14.9
frame_index
int64
0
448
episode_index
int64
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1
index
int64
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task_index
int64
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[ 11.77734375, 168.3984375, 158.5546875, 48.69140625, -7.822265625, 3.779296875, 100.26881408691406 ]
[ 11.689453125, 171.298828125, 161.54296875, 49.21875, -8.701171875, 3.69140625, 96.83698272705078 ]
2.166667
65
0
65
0
[ 11.865234375, 165.849609375, 156.97265625, 48.251953125, -7.734375, 3.779296875, 100.26881408691406 ]
[ 11.77734375, 169.716796875, 160.13671875, 48.955078125, -8.525390625, 3.779296875, 96.83698272705078 ]
2.2
66
0
66
0
[ 11.865234375, 162.94921875, 155.126953125, 47.8125, -7.55859375, 3.779296875, 100.26881408691406 ]
[ 11.77734375, 168.134765625, 158.642578125, 48.603515625, -8.26171875, 3.779296875, 96.83698272705078 ]
2.233333
67
0
67
0
[ 11.953125, 159.78515625, 153.017578125, 47.373046875, -7.470703125, 3.603515625, 100.26881408691406 ]
[ 11.865234375, 165.76171875, 157.060546875, 48.076171875, -8.26171875, 3.779296875, 96.83698272705078 ]
2.266667
68
0
68
0
[ 12.041015625, 156.26953125, 150.8203125, 47.109375, -7.3828125, 3.427734375, 100.26881408691406 ]
[ 11.865234375, 163.388671875, 155.390625, 47.724609375, -8.0859375, 3.69140625, 96.83698272705078 ]
2.3
69
0
69
0
[ 12.216796875, 152.490234375, 148.271484375, 46.93359375, -7.294921875, 3.1640625, 100.26881408691406 ]
[ 11.953125, 160.48828125, 153.544921875, 47.373046875, -8.0859375, 3.515625, 96.83698272705078 ]
2.333333
70
0
70
0
[ 12.3046875, 148.7109375, 145.810546875, 46.7578125, -7.294921875, 2.98828125, 100.26881408691406 ]
[ 12.12890625, 157.763671875, 151.5234375, 47.197265625, -8.0859375, 3.251953125, 96.83698272705078 ]
2.366667
71
0
71
0
[ 12.392578125, 145.01953125, 143.349609375, 46.669921875, -7.294921875, 2.8125, 100.26881408691406 ]
[ 12.3046875, 153.896484375, 148.88671875, 46.93359375, -7.91015625, 2.98828125, 96.83698272705078 ]
2.4
72
0
72
0
[ 12.392578125, 141.416015625, 140.888671875, 46.23046875, -7.3828125, 2.63671875, 100.26881408691406 ]
[ 12.392578125, 151.083984375, 146.865234375, 46.845703125, -7.91015625, 2.8125, 96.83698272705078 ]
2.433333
73
0
73
0
[ 12.392578125, 137.98828125, 138.69140625, 45.87890625, -7.55859375, 2.4609375, 100.26881408691406 ]
[ 12.392578125, 147.216796875, 144.31640625, 46.58203125, -7.734375, 2.724609375, 96.83698272705078 ]
2.466667
74
0
74
0
[ 12.392578125, 134.82421875, 136.58203125, 45.439453125, -7.734375, 2.4609375, 100.26881408691406 ]
[ 12.392578125, 144.052734375, 142.119140625, 46.142578125, -7.734375, 2.4609375, 96.83698272705078 ]
2.5
75
0
75
0
[ 12.392578125, 132.099609375, 134.82421875, 45, -7.998046875, 2.28515625, 100.26881408691406 ]
[ 12.392578125, 140.2734375, 139.39453125, 45.703125, -7.734375, 2.4609375, 96.83698272705078 ]
2.533333
76
0
76
0
[ 12.216796875, 129.7265625, 133.41796875, 44.296875, -8.0859375, 2.197265625, 100.26881408691406 ]
[ 12.392578125, 137.197265625, 137.4609375, 45.3515625, -7.91015625, 2.28515625, 96.83698272705078 ]
2.566667
77
0
77
0
[ 12.216796875, 127.79296875, 132.275390625, 43.505859375, -8.26171875, 1.93359375, 100.26881408691406 ]
[ 12.216796875, 133.857421875, 135.439453125, 44.82421875, -7.91015625, 2.197265625, 96.83698272705078 ]
2.6
78
0
78
0
[ 12.3046875, 125.859375, 131.30859375, 42.802734375, -8.701171875, 1.494140625, 100.26881408691406 ]
[ 12.216796875, 131.044921875, 133.9453125, 44.033203125, -7.91015625, 2.021484375, 96.83698272705078 ]
2.633333
79
0
79
0
[ 12.48046875, 124.013671875, 130.25390625, 42.5390625, -9.052734375, 1.142578125, 100.26881408691406 ]
[ 12.216796875, 128.49609375, 132.5390625, 43.2421875, -7.91015625, 1.669921875, 96.83698272705078 ]
2.666667
80
0
80
0
[ 12.744140625, 122.255859375, 129.0234375, 42.626953125, -9.228515625, 0.791015625, 100.26881408691406 ]
[ 12.392578125, 126.2109375, 131.220703125, 42.71484375, -8.26171875, 1.23046875, 96.83698272705078 ]
2.7
81
0
81
0
[ 13.095703125, 120.76171875, 127.79296875, 43.06640625, -9.404296875, 0.439453125, 100.26881408691406 ]
[ 12.568359375, 124.1015625, 130.25390625, 42.71484375, -8.4375, 0.87890625, 96.83698272705078 ]
2.733333
82
0
82
0
[ 13.271484375, 119.443359375, 126.73828125, 43.505859375, -9.404296875, 0.17578125, 100.26881408691406 ]
[ 12.919921875, 121.9921875, 129.19921875, 43.06640625, -8.61328125, 0.52734375, 96.83698272705078 ]
2.766667
83
0
83
0
[ 13.53515625, 118.388671875, 125.947265625, 43.681640625, -9.580078125, 0.087890625, 100.26881408691406 ]
[ 13.271484375, 120.41015625, 128.056640625, 43.505859375, -8.61328125, 0.263671875, 96.83698272705078 ]
2.8
84
0
84
0
[ 13.7109375, 117.509765625, 125.244140625, 43.681640625, -9.931640625, 0, 100.26881408691406 ]
[ 13.447265625, 118.916015625, 126.826171875, 43.76953125, -8.61328125, 0.087890625, 96.83698272705078 ]
2.833333
85
0
85
0
[ 13.974609375, 116.89453125, 124.716796875, 43.681640625, -10.283203125, 0, 100.26881408691406 ]
[ 13.623046875, 117.7734375, 126.03515625, 43.76953125, -8.7890625, 0, 96.83698272705078 ]
2.866667
86
0
86
0
[ 14.0625, 116.103515625, 123.662109375, 44.736328125, -9.931640625, 0, 100.26881408691406 ]
[ 13.88671875, 116.806640625, 125.5078125, 43.76953125, -8.96484375, 0, 96.83698272705078 ]
2.9
87
0
87
0
[ 14.150390625, 115.48828125, 122.51953125, 46.0546875, -9.66796875, -0.087890625, 100.26881408691406 ]
[ 14.0625, 116.19140625, 124.892578125, 44.12109375, -9.31640625, 0, 96.83698272705078 ]
2.933333
88
0
88
0
[ 14.4140625, 115.13671875, 121.81640625, 46.7578125, -9.66796875, -0.3515625, 100.26881408691406 ]
[ 14.0625, 115.48828125, 123.75, 45.3515625, -9.4921875, -0.087890625, 96.83698272705078 ]
2.966667
89
0
89
0
[ 14.853515625, 115.13671875, 121.2890625, 47.373046875, -9.931640625, -0.615234375, 100.26881408691406 ]
[ 14.23828125, 114.9609375, 122.6953125, 46.494140625, -9.4921875, -0.263671875, 96.83698272705078 ]
3
90
0
90
0
[ 15.46875, 115.48828125, 120.849609375, 47.8125, -10.283203125, -0.87890625, 100.26881408691406 ]
[ 14.58984375, 114.873046875, 122.080078125, 47.28515625, -9.4921875, -0.52734375, 96.83698272705078 ]
3.033333
91
0
91
0
[ 16.083984375, 115.6640625, 120.498046875, 48.1640625, -10.810546875, -1.0546875, 100.26881408691406 ]
[ 15.205078125, 114.9609375, 121.640625, 47.8125, -9.4921875, -0.87890625, 96.83698272705078 ]
3.066667
92
0
92
0
[ 16.787109375, 115.83984375, 120.234375, 48.515625, -11.42578125, -1.318359375, 100.26881408691406 ]
[ 15.8203125, 115.13671875, 121.201171875, 48.1640625, -9.4921875, -1.0546875, 96.83698272705078 ]
3.1
93
0
93
0
[ 17.40234375, 115.927734375, 119.970703125, 48.515625, -12.041015625, -1.40625, 100.26881408691406 ]
[ 16.5234375, 115.3125, 120.9375, 48.515625, -9.66796875, -1.23046875, 96.83698272705078 ]
3.133333
94
0
94
0
[ 17.841796875, 115.927734375, 119.794921875, 48.515625, -12.392578125, -1.494140625, 100.26881408691406 ]
[ 17.138671875, 115.48828125, 120.673828125, 48.603515625, -10.01953125, -1.40625, 96.83698272705078 ]
3.166667
95
0
95
0
[ 18.017578125, 115.6640625, 119.35546875, 48.779296875, -12.392578125, -1.494140625, 100.26881408691406 ]
[ 17.75390625, 115.48828125, 120.41015625, 48.603515625, -10.72265625, -1.494140625, 96.83698272705078 ]
3.2
96
0
96
0
[ 18.10546875, 115.13671875, 118.828125, 49.130859375, -12.392578125, -1.669921875, 100.26881408691406 ]
[ 18.017578125, 115.48828125, 120.146484375, 48.8671875, -11.07421875, -1.494140625, 96.83698272705078 ]
3.233333
97
0
97
0
[ 18.28125, 114.521484375, 118.212890625, 49.5703125, -12.3046875, -1.7578125, 100.26881408691406 ]
[ 18.10546875, 115.13671875, 119.619140625, 49.130859375, -11.25, -1.669921875, 96.83698272705078 ]
3.266667
98
0
98
0
[ 18.28125, 113.818359375, 117.421875, 50.537109375, -11.865234375, -1.93359375, 100.26881408691406 ]
[ 18.193359375, 114.521484375, 119.00390625, 49.482421875, -11.6015625, -1.7578125, 96.83698272705078 ]
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": 898,
    "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_side",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
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            "shape": [
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            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_side",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.laptop": {
            "dtype": "video",
            "shape": [
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                640,
                3
            ],
            "names": [
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            "info": {
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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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            "names": [
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            "info": {
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                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
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        "episode_index": {
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            "names": null
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        "index": {
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        }
    }
}

Citation

BibTeX:

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License:
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