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Datasets:
DorayakiLin
/
yzw_so100_stack_cube_to_test_gr00t_wrist

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
stack_cube
gr00t_test
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
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action
sequence
observation.state
sequence
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float32
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9.4
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int64
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[ -13.798828125, 94.658203125, 95.9765625, 77.255859375, -4.921875, 24.268774032592773 ]
2.533333
76
0
76
0
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[ -14.23828125, 92.548828125, 95.537109375, 76.201171875, -4.833984375, 25.13833999633789 ]
2.566667
77
0
77
0
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[ -14.4140625, 90.52734375, 95.2734375, 74.970703125, -4.833984375, 26.324111938476562 ]
2.6
78
0
78
0
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[ -14.4140625, 88.681640625, 95.09765625, 73.740234375, -4.833984375, 27.1146240234375 ]
2.633333
79
0
79
0
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[ -14.326171875, 87.01171875, 95.009765625, 72.421875, -4.833984375, 27.430830001831055 ]
2.666667
80
0
80
0
[ -14.326171875, 81.5625, 92.28515625, 67.412109375, -5.712890625, 28.282827377319336 ]
[ -14.23828125, 85.25390625, 95.009765625, 71.19140625, -4.921875, 27.74703598022461 ]
2.7
81
0
81
0
[ -14.150390625, 80.33203125, 92.28515625, 66.4453125, -5.9765625, 28.282827377319336 ]
[ -14.23828125, 83.49609375, 95.009765625, 70.048828125, -5.009765625, 27.905139923095703 ]
2.733333
82
0
82
0
[ -13.88671875, 79.189453125, 92.28515625, 65.654296875, -6.240234375, 28.282827377319336 ]
[ -14.326171875, 81.9140625, 95.009765625, 68.90625, -5.2734375, 27.984189987182617 ]
2.766667
83
0
83
0
[ -13.623046875, 78.22265625, 92.28515625, 65.126953125, -6.50390625, 28.282827377319336 ]
[ -14.326171875, 80.5078125, 95.009765625, 67.8515625, -5.537109375, 28.06324005126953 ]
2.8
84
0
84
0
[ -13.447265625, 77.34375, 92.28515625, 64.6875, -6.767578125, 28.282827377319336 ]
[ -14.326171875, 79.27734375, 95.009765625, 66.884765625, -5.80078125, 28.06324005126953 ]
2.833333
85
0
85
0
[ -13.359375, 76.728515625, 92.28515625, 64.16015625, -6.85546875, 27.94612693786621 ]
[ -14.23828125, 78.134765625, 95.009765625, 66.181640625, -6.064453125, 28.06324005126953 ]
2.866667
86
0
86
0
[ -13.271484375, 76.11328125, 92.28515625, 63.45703125, -6.943359375, 26.711559295654297 ]
[ -13.974609375, 77.16796875, 95.009765625, 65.56640625, -6.328125, 28.06324005126953 ]
2.9
87
0
87
0
[ -13.271484375, 75.498046875, 92.28515625, 62.490234375, -7.03125, 24.69135856628418 ]
[ -13.7109375, 76.376953125, 95.009765625, 64.951171875, -6.50390625, 27.984189987182617 ]
2.933333
88
0
88
0
[ -13.271484375, 74.970703125, 92.28515625, 61.171875, -7.03125, 21.99775505065918 ]
[ -13.447265625, 75.673828125, 95.009765625, 64.248046875, -6.50390625, 26.798418045043945 ]
2.966667
89
0
89
0
[ -13.271484375, 74.53125, 92.28515625, 60.1171875, -7.119140625, 20.538721084594727 ]
[ -13.359375, 75.146484375, 95.009765625, 63.45703125, -6.591796875, 25.217390060424805 ]
3
90
0
90
0
[ -13.271484375, 74.1796875, 92.28515625, 59.501953125, -7.20703125, 19.640851974487305 ]
[ -13.359375, 74.53125, 95.009765625, 62.314453125, -6.6796875, 23.16205596923828 ]
3.033333
91
0
91
0
[ -13.271484375, 73.916015625, 92.28515625, 58.88671875, -7.470703125, 16.947250366210938 ]
[ -13.359375, 74.091796875, 95.009765625, 61.34765625, -6.6796875, 21.897232055664062 ]
3.066667
92
0
92
0
[ -13.271484375, 73.740234375, 92.28515625, 58.18359375, -8.0859375, 12.906846046447754 ]
[ -13.447265625, 73.65234375, 95.009765625, 60.46875, -6.943359375, 20.158103942871094 ]
3.1
93
0
93
0
[ -13.271484375, 73.65234375, 92.28515625, 57.65625, -8.701171875, 8.97867488861084 ]
[ -13.53515625, 73.388671875, 95.009765625, 59.853515625, -7.119140625, 17.944664001464844 ]
3.133333
94
0
94
0
[ -13.271484375, 73.564453125, 92.28515625, 57.3046875, -9.404296875, 6.060606002807617 ]
[ -13.53515625, 73.30078125, 95.009765625, 59.23828125, -7.55859375, 15.256917953491211 ]
3.166667
95
0
95
0
[ -13.18359375, 73.740234375, 92.109375, 57.392578125, -10.283203125, 2.91806960105896 ]
[ -13.53515625, 73.30078125, 95.009765625, 58.623046875, -8.0859375, 13.992094993591309 ]
3.2
96
0
96
0
[ -12.919921875, 74.091796875, 91.7578125, 58.0078125, -11.162109375, 0.8978676199913025 ]
[ -13.53515625, 73.30078125, 95.009765625, 58.18359375, -8.61328125, 13.517786979675293 ]
3.233333
97
0
97
0
[ -12.48046875, 74.53125, 91.40625, 58.798828125, -11.689453125, 0.33670032024383545 ]
[ -13.53515625, 73.30078125, 94.921875, 58.18359375, -9.404296875, 13.201581001281738 ]
3.266667
98
0
98
0
[ -11.953125, 75.234375, 90.966796875, 59.853515625, -12.392578125, 0.33670032024383545 ]
[ -13.447265625, 73.212890625, 94.658203125, 58.359375, -10.107421875, 13.122529983520508 ]
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": 60,
    "total_frames": 12459,
    "total_tasks": 1,
    "total_videos": 120,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:60"
    },
    "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.above": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
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            "info": {
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                "video.height": 480,
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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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        },
        "observation.images.wrist": {
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            "shape": [
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            ],
            "names": [
                "height",
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                "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
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
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                1
            ],
            "names": null
        },
        "episode_index": {
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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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License:
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