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Datasets:
Congying1112
/
so100_simplepick_with_2_cameras_from_top

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
Community
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action
sequence
observation.state
sequence
timestamp
float32
0
19.9
frame_index
int64
0
598
episode_index
int64
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15
index
int64
0
9.58k
task_index
int64
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[ 5.888671875, 188.349609375, 87.36328125, 99.140625, -88.59375, 97.96954345703125 ]
2.433333
73
0
73
0
[ 6.240234375, 188.876953125, 87.36328125, 98.4375, -90.791015625, 99.45770263671875 ]
[ 5.888671875, 188.349609375, 87.36328125, 99.140625, -88.76953125, 97.96954345703125 ]
2.466667
74
0
74
0
[ 6.240234375, 188.876953125, 87.36328125, 98.876953125, -91.142578125, 99.45770263671875 ]
[ 5.888671875, 188.349609375, 87.36328125, 99.140625, -89.12109375, 97.96954345703125 ]
2.5
75
0
75
0
[ 6.240234375, 188.876953125, 87.36328125, 99.228515625, -92.021484375, 99.45770263671875 ]
[ 5.888671875, 188.349609375, 87.36328125, 99.140625, -89.560546875, 97.96954345703125 ]
2.533333
76
0
76
0
[ 6.240234375, 188.876953125, 87.36328125, 99.31640625, -92.548828125, 99.45770263671875 ]
[ 5.888671875, 188.349609375, 87.36328125, 99.140625, -90.17578125, 97.96954345703125 ]
2.566667
77
0
77
0
[ 6.328125, 188.876953125, 87.36328125, 99.404296875, -92.900390625, 99.45770263671875 ]
[ 5.888671875, 188.349609375, 87.36328125, 99.140625, -90.87890625, 97.96954345703125 ]
2.6
78
0
78
0
[ 6.85546875, 188.876953125, 87.1875, 99.580078125, -93.076171875, 99.45770263671875 ]
[ 5.888671875, 188.349609375, 87.36328125, 99.140625, -91.318359375, 97.96954345703125 ]
2.633333
79
0
79
0
[ 7.3828125, 188.876953125, 87.099609375, 99.580078125, -93.076171875, 99.45770263671875 ]
[ 5.888671875, 188.349609375, 87.36328125, 99.140625, -91.58203125, 97.96954345703125 ]
2.666667
80
0
80
0
[ 7.91015625, 188.876953125, 87.451171875, 99.404296875, -93.1640625, 99.45770263671875 ]
[ 5.888671875, 188.349609375, 87.36328125, 99.140625, -92.109375, 97.96954345703125 ]
2.7
81
0
81
0
[ 8.349609375, 188.876953125, 87.890625, 99.404296875, -94.130859375, 99.45770263671875 ]
[ 6.064453125, 188.349609375, 87.36328125, 99.140625, -92.4609375, 97.96954345703125 ]
2.733333
82
0
82
0
[ 8.525390625, 188.876953125, 88.330078125, 99.052734375, -94.658203125, 99.45770263671875 ]
[ 6.416015625, 188.349609375, 87.36328125, 99.140625, -92.63671875, 97.96954345703125 ]
2.766667
83
0
83
0
[ 8.61328125, 188.876953125, 88.9453125, 97.91015625, -94.658203125, 99.45770263671875 ]
[ 7.03125, 188.349609375, 87.36328125, 99.140625, -93.1640625, 97.96954345703125 ]
2.8
84
0
84
0
[ 8.876953125, 188.876953125, 89.736328125, 96.591796875, -94.658203125, 99.45770263671875 ]
[ 7.470703125, 188.349609375, 87.451171875, 99.140625, -93.427734375, 97.96954345703125 ]
2.833333
85
0
85
0
[ 9.580078125, 188.876953125, 90.791015625, 95.2734375, -94.658203125, 99.45770263671875 ]
[ 7.822265625, 188.349609375, 87.71484375, 98.876953125, -93.603515625, 97.96954345703125 ]
2.866667
86
0
86
0
[ 10.546875, 188.876953125, 91.93359375, 93.955078125, -94.658203125, 99.45770263671875 ]
[ 7.91015625, 188.349609375, 88.2421875, 97.91015625, -93.69140625, 97.96954345703125 ]
2.9
87
0
87
0
[ 11.689453125, 188.876953125, 93.251953125, 92.63671875, -94.658203125, 99.45770263671875 ]
[ 7.998046875, 188.349609375, 89.033203125, 96.85546875, -93.69140625, 97.96954345703125 ]
2.933333
88
0
88
0
[ 12.744140625, 188.876953125, 94.482421875, 91.40625, -94.74609375, 99.45770263671875 ]
[ 8.7890625, 188.349609375, 90, 95.625, -93.69140625, 97.96954345703125 ]
2.966667
89
0
89
0
[ 13.623046875, 188.876953125, 95.361328125, 90.87890625, -94.921875, 99.45770263671875 ]
[ 9.755859375, 188.349609375, 91.0546875, 94.306640625, -93.69140625, 97.96954345703125 ]
3
90
0
90
0
[ 14.326171875, 188.876953125, 96.15234375, 90.791015625, -95.2734375, 99.45770263671875 ]
[ 10.8984375, 188.349609375, 92.373046875, 93.076171875, -93.69140625, 97.96954345703125 ]
3.033333
91
0
91
0
[ 14.765625, 188.876953125, 96.591796875, 90.966796875, -95.44921875, 99.45770263671875 ]
[ 12.12890625, 188.349609375, 93.603515625, 92.021484375, -93.69140625, 97.96954345703125 ]
3.066667
92
0
92
0
[ 15.029296875, 188.876953125, 96.767578125, 91.669921875, -95.888671875, 99.45770263671875 ]
[ 12.65625, 188.349609375, 94.74609375, 91.494140625, -94.130859375, 97.96954345703125 ]
3.1
93
0
93
0
[ 15.380859375, 188.876953125, 96.767578125, 92.63671875, -96.416015625, 99.45770263671875 ]
[ 13.18359375, 188.349609375, 95.361328125, 91.23046875, -94.39453125, 97.96954345703125 ]
3.133333
94
0
94
0
[ 15.8203125, 188.876953125, 96.767578125, 93.515625, -97.03125, 99.45770263671875 ]
[ 13.623046875, 188.349609375, 95.712890625, 91.318359375, -94.658203125, 97.96954345703125 ]
3.166667
95
0
95
0
[ 16.5234375, 188.876953125, 96.767578125, 94.04296875, -97.470703125, 99.45770263671875 ]
[ 14.23828125, 188.349609375, 95.80078125, 91.7578125, -95.185546875, 97.96954345703125 ]
3.2
96
0
96
0
[ 17.138671875, 188.876953125, 97.03125, 94.39453125, -97.822265625, 99.45770263671875 ]
[ 14.58984375, 188.349609375, 95.888671875, 92.4609375, -95.9765625, 97.96954345703125 ]
3.233333
97
0
97
0
[ 17.75390625, 188.876953125, 97.3828125, 94.39453125, -98.0859375, 99.45770263671875 ]
[ 15.1171875, 188.349609375, 95.888671875, 93.251953125, -96.328125, 97.96954345703125 ]
3.266667
98
0
98
0
[ 18.369140625, 188.876953125, 97.646484375, 94.39453125, -98.26171875, 99.45770263671875 ]
[ 15.8203125, 188.349609375, 96.240234375, 93.603515625, -96.591796875, 97.96954345703125 ]
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": 4,
    "total_frames": 2396,
    "total_tasks": 1,
    "total_videos": 8,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:4"
    },
    "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_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.onhand": {
            "dtype": "video",
            "shape": [
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                640,
                3
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            "names": [
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        "observation.images.top": {
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            "names": [
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            ],
            "info": {
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                "video.channels": 3,
                "video.codec": "h264",
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                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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            "shape": [
                1
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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