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Datasets:
boyangs235
/
so100-Pick-Place_dataset_Put-square-in-bowl

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
Put square in bowl
Libraries:
Datasets
Dask
License:
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xet
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1
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observation.state
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timestamp
float32
0
33.1
frame_index
int64
0
994
episode_index
int64
0
104
index
int64
0
52.1k
task_index
int64
0
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79
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[ 90.87890625, 191.865234375, 180.615234375, 37.265625, 1.23046875, 0 ]
[ 85.166015625, 190.8984375, 178.505859375, 42.802734375, 6.240234375, 0.1497006118297577 ]
2.666667
80
0
80
0
[ 91.23046875, 191.953125, 180.615234375, 37.08984375, 2.548828125, 0 ]
[ 86.220703125, 190.8984375, 178.505859375, 40.869140625, 5.537109375, 0.1497006118297577 ]
2.7
81
0
81
0
[ 91.93359375, 191.953125, 180.703125, 37.001953125, 2.98828125, 0 ]
[ 88.154296875, 190.8984375, 178.505859375, 39.638671875, 3.69140625, 0.1497006118297577 ]
2.733333
82
0
82
0
[ 92.548828125, 191.953125, 180.615234375, 36.474609375, 3.251953125, 0 ]
[ 89.736328125, 190.8984375, 178.505859375, 39.0234375, 2.724609375, 0.1497006118297577 ]
2.766667
83
0
83
0
[ 92.98828125, 191.953125, 180.439453125, 36.03515625, 3.8671875, 0 ]
[ 90.3515625, 190.8984375, 178.505859375, 38.49609375, 3.1640625, 0.1497006118297577 ]
2.8
84
0
84
0
[ 93.515625, 192.041015625, 180.087890625, 35.947265625, 4.306640625, 0 ]
[ 91.0546875, 190.8984375, 178.505859375, 37.880859375, 3.33984375, 0.1497006118297577 ]
2.833333
85
0
85
0
[ 94.04296875, 192.041015625, 179.296875, 36.38671875, 4.658203125, 0 ]
[ 91.845703125, 190.8984375, 178.505859375, 37.353515625, 3.603515625, 0.1497006118297577 ]
2.866667
86
0
86
0
[ 94.5703125, 192.041015625, 178.2421875, 37.265625, 5.009765625, 0 ]
[ 92.373046875, 190.8984375, 178.505859375, 37.265625, 4.04296875, 0.1497006118297577 ]
2.9
87
0
87
0
[ 94.833984375, 192.041015625, 177.01171875, 38.49609375, 5.361328125, 0 ]
[ 93.076171875, 190.8984375, 178.505859375, 37.265625, 4.39453125, 0.1497006118297577 ]
2.933333
88
0
88
0
[ 95.185546875, 192.041015625, 175.517578125, 39.90234375, 5.537109375, 0 ]
[ 93.603515625, 190.8984375, 178.2421875, 37.529296875, 4.74609375, 0.1497006118297577 ]
2.966667
89
0
89
0
[ 95.44921875, 192.041015625, 173.935546875, 41.1328125, 5.537109375, 0 ]
[ 94.04296875, 190.8984375, 177.978515625, 38.3203125, 5.09765625, 0.1497006118297577 ]
3
90
0
90
0
[ 95.625, 192.041015625, 172.44140625, 42.1875, 5.537109375, 0 ]
[ 94.39453125, 190.8984375, 176.66015625, 39.287109375, 5.185546875, 0.1497006118297577 ]
3.033333
91
0
91
0
[ 95.888671875, 192.041015625, 171.2109375, 42.978515625, 5.44921875, 0 ]
[ 94.658203125, 190.8984375, 175.4296875, 40.341796875, 5.2734375, 0.1497006118297577 ]
3.066667
92
0
92
0
[ 95.888671875, 192.041015625, 170.33203125, 43.330078125, 5.361328125, 0 ]
[ 95.009765625, 190.8984375, 174.111328125, 41.30859375, 5.2734375, 0.1497006118297577 ]
3.1
93
0
93
0
[ 95.888671875, 192.041015625, 169.62890625, 43.41796875, 5.361328125, 0 ]
[ 95.185546875, 190.8984375, 172.96875, 42.1875, 5.2734375, 0.1497006118297577 ]
3.133333
94
0
94
0
[ 96.15234375, 191.337890625, 168.486328125, 43.41796875, 5.2734375, 0 ]
[ 95.2734375, 190.8984375, 172.177734375, 42.71484375, 5.2734375, 0.1497006118297577 ]
3.166667
95
0
95
0
[ 96.328125, 189.4921875, 166.904296875, 43.59375, 5.537109375, 0 ]
[ 95.361328125, 190.8984375, 171.650390625, 43.06640625, 5.2734375, 0.1497006118297577 ]
3.2
96
0
96
0
[ 96.416015625, 186.240234375, 164.53125, 43.76953125, 5.80078125, 0 ]
[ 95.625, 190.8984375, 171.03515625, 43.330078125, 5.2734375, 0.1497006118297577 ]
3.233333
97
0
97
0
[ 96.328125, 182.63671875, 161.982421875, 43.76953125, 5.80078125, 0 ]
[ 95.80078125, 190.1953125, 170.244140625, 43.505859375, 5.44921875, 0.1497006118297577 ]
3.266667
98
0
98
0
[ 96.328125, 179.384765625, 159.43359375, 43.9453125, 5.80078125, 0.10626992583274841 ]
[ 95.888671875, 188.349609375, 168.837890625, 43.681640625, 5.537109375, 0.1497006118297577 ]
3.3
99
0
99
0

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "so100",
    "total_episodes": 105,
    "total_frames": 52093,
    "total_tasks": 3,
    "total_videos": 420,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:105"
    },
    "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.top": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.static": {
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            "shape": [
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                640,
                3
            ],
            "names": [
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                "width",
                "channels"
            ],
            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.gripper": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.depth": {
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            "shape": [
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                640,
                3
            ],
            "names": [
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                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
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            ],
            "names": null
        },
        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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