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Datasets:
T1g3rGE
/
so100_pickplace_pnp

Tasks:
Robotics
Modalities:
Image
Tabular
Time-series
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
pickplace
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
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action
sequence
observation.state
sequence
timestamp
float32
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99.6
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[ 3.33984375, 86.044921875, 78.046875, -16.962890625, 4.658203125, 0 ]
[ 3.69140625, 80.244140625, 78.486328125, -16.787109375, 4.658203125, 0.2702702581882477 ]
2.566667
77
0
77
0
[ 3.33984375, 86.572265625, 78.046875, -16.962890625, 4.658203125, 0 ]
[ 3.69140625, 81.2109375, 78.486328125, -16.787109375, 4.658203125, 0.2702702581882477 ]
2.6
78
0
78
0
[ 3.33984375, 86.8359375, 78.046875, -16.962890625, 4.658203125, 0 ]
[ 3.69140625, 82.177734375, 78.486328125, -16.787109375, 4.658203125, 0.2702702581882477 ]
2.633333
79
0
79
0
[ 3.33984375, 87.1875, 78.046875, -16.962890625, 4.658203125, 0 ]
[ 3.69140625, 82.79296875, 78.486328125, -16.787109375, 4.658203125, 0.2702702581882477 ]
2.666667
80
0
80
0
[ 3.33984375, 87.5390625, 78.046875, -16.962890625, 4.658203125, 0 ]
[ 3.69140625, 83.3203125, 78.486328125, -16.787109375, 4.658203125, 0.2702702581882477 ]
2.7
81
0
81
0
[ 3.33984375, 87.890625, 78.046875, -16.962890625, 4.658203125, 0 ]
[ 3.69140625, 83.759765625, 78.486328125, -16.787109375, 4.658203125, 0.2702702581882477 ]
2.733333
82
0
82
0
[ 3.33984375, 88.330078125, 78.046875, -16.962890625, 4.658203125, 0 ]
[ 3.69140625, 84.111328125, 78.486328125, -16.69921875, 4.658203125, 0.2702702581882477 ]
2.766667
83
0
83
0
[ 3.33984375, 88.76953125, 78.046875, -16.962890625, 4.658203125, 0 ]
[ 3.69140625, 84.375, 78.486328125, -16.69921875, 4.658203125, 0.2702702581882477 ]
2.8
84
0
84
0
[ 3.251953125, 89.47265625, 78.046875, -16.962890625, 4.658203125, 0 ]
[ 3.69140625, 84.814453125, 78.486328125, -16.69921875, 4.658203125, 0.2702702581882477 ]
2.833333
85
0
85
0
[ 3.251953125, 90.087890625, 78.046875, -16.962890625, 4.658203125, 0 ]
[ 3.69140625, 85.25390625, 78.486328125, -16.69921875, 4.658203125, 0.2702702581882477 ]
2.866667
86
0
86
0
[ 3.251953125, 90.703125, 78.046875, -16.962890625, 4.658203125, 0 ]
[ 3.69140625, 85.869140625, 78.486328125, -16.69921875, 4.658203125, 0.2702702581882477 ]
2.9
87
0
87
0
[ 3.251953125, 91.0546875, 78.046875, -16.962890625, 4.658203125, 0 ]
[ 3.69140625, 86.396484375, 78.486328125, -16.69921875, 4.658203125, 0.2702702581882477 ]
2.933333
88
0
88
0
[ 3.251953125, 91.494140625, 78.046875, -16.962890625, 4.658203125, 0 ]
[ 3.603515625, 87.01171875, 78.486328125, -16.69921875, 4.658203125, 0.2702702581882477 ]
2.966667
89
0
89
0
[ 3.251953125, 92.021484375, 78.046875, -16.962890625, 4.658203125, 0 ]
[ 3.603515625, 87.5390625, 78.486328125, -16.69921875, 4.658203125, 0.2702702581882477 ]
3
90
0
90
0
[ 3.251953125, 92.724609375, 78.046875, -16.962890625, 4.658203125, 0 ]
[ 3.515625, 88.154296875, 78.486328125, -16.69921875, 4.658203125, 0.2702702581882477 ]
3.033333
91
0
91
0
[ 3.251953125, 93.427734375, 78.046875, -16.962890625, 4.658203125, 0 ]
[ 3.515625, 88.76953125, 78.486328125, -16.69921875, 4.658203125, 0.2702702581882477 ]
3.066667
92
0
92
0
[ 3.251953125, 94.306640625, 78.046875, -16.962890625, 4.658203125, 0 ]
[ 3.515625, 89.296875, 78.486328125, -16.69921875, 4.658203125, 0.2702702581882477 ]
3.1
93
0
93
0
[ 3.251953125, 95.2734375, 78.046875, -16.962890625, 4.658203125, 0 ]
[ 3.515625, 90, 78.486328125, -16.69921875, 4.658203125, 0.2702702581882477 ]
3.133333
94
0
94
0
[ 3.251953125, 96.064453125, 78.046875, -16.962890625, 4.658203125, 0 ]
[ 3.515625, 90.966796875, 78.486328125, -16.69921875, 4.658203125, 0.2702702581882477 ]
3.166667
95
0
95
0
[ 3.251953125, 96.767578125, 78.046875, -16.962890625, 4.658203125, 0 ]
[ 3.515625, 91.7578125, 78.486328125, -16.69921875, 4.658203125, 0.2702702581882477 ]
3.2
96
0
96
0
[ 3.251953125, 97.20703125, 78.046875, -16.962890625, 4.658203125, 0 ]
[ 3.515625, 92.63671875, 78.486328125, -16.69921875, 4.658203125, 0.2702702581882477 ]
3.233333
97
0
97
0
[ 3.251953125, 97.470703125, 78.046875, -16.962890625, 4.658203125, 0 ]
[ 3.515625, 93.427734375, 78.486328125, -16.69921875, 4.658203125, 0.2702702581882477 ]
3.266667
98
0
98
0
[ 3.251953125, 97.734375, 78.046875, -16.962890625, 4.658203125, 0 ]
[ 3.515625, 93.955078125, 78.486328125, -16.69921875, 4.658203125, 0.2702702581882477 ]
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": 3584,
    "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": [
                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.main": {
            "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
            }
        },
        "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": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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Number of rows:
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