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Datasets:
devanshp10
/
so100_pick_place

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
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
39.7
frame_index
int64
0
1.19k
episode_index
int64
0
14
index
int64
0
17.9k
task_index
int64
0
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2.433333
73
0
73
0
[ 30.9375, 190.283203125, 169.62890625, 36.73828125, -36.2109375, 6.794425010681152 ]
[ 32.080078125, 189.580078125, 172.529296875, 44.033203125, -39.55078125, 6.414474010467529 ]
2.466667
74
0
74
0
[ 30.498046875, 190.1953125, 169.62890625, 33.662109375, -33.57421875, 6.794425010681152 ]
[ 31.46484375, 189.580078125, 172.529296875, 42.451171875, -39.375, 6.414474010467529 ]
2.5
75
0
75
0
[ 29.794921875, 190.1953125, 169.62890625, 30.5859375, -31.025390625, 6.794425010681152 ]
[ 30.849609375, 189.580078125, 172.529296875, 40.25390625, -38.3203125, 6.414474010467529 ]
2.533333
76
0
76
0
[ 29.091796875, 190.1953125, 169.62890625, 27.861328125, -29.443359375, 6.794425010681152 ]
[ 30.41015625, 189.580078125, 172.529296875, 37.79296875, -36.650390625, 6.414474010467529 ]
2.566667
77
0
77
0
[ 28.212890625, 190.1953125, 169.62890625, 25.048828125, -27.59765625, 6.794425010681152 ]
[ 30.322265625, 189.580078125, 172.529296875, 35.33203125, -34.716796875, 6.414474010467529 ]
2.6
78
0
78
0
[ 27.24609375, 190.1953125, 169.62890625, 22.060546875, -25.224609375, 6.794425010681152 ]
[ 30.05859375, 189.580078125, 172.529296875, 32.607421875, -32.783203125, 6.414474010467529 ]
2.633333
79
0
79
0
[ 26.19140625, 190.107421875, 169.62890625, 19.51171875, -23.5546875, 6.794425010681152 ]
[ 29.267578125, 189.580078125, 172.529296875, 29.970703125, -30.76171875, 6.414474010467529 ]
2.666667
80
0
80
0
[ 25.224609375, 190.107421875, 169.62890625, 17.314453125, -21.97265625, 6.794425010681152 ]
[ 28.4765625, 189.580078125, 172.529296875, 27.509765625, -28.916015625, 6.414474010467529 ]
2.7
81
0
81
0
[ 24.345703125, 190.107421875, 169.62890625, 15.29296875, -20.654296875, 6.794425010681152 ]
[ 27.509765625, 189.580078125, 172.529296875, 24.9609375, -26.89453125, 6.414474010467529 ]
2.733333
82
0
82
0
[ 23.73046875, 190.01953125, 169.62890625, 13.623046875, -19.775390625, 6.794425010681152 ]
[ 26.630859375, 189.580078125, 172.529296875, 22.587890625, -24.873046875, 6.414474010467529 ]
2.766667
83
0
83
0
[ 23.115234375, 190.01953125, 169.62890625, 11.337890625, -18.193359375, 6.794425010681152 ]
[ 25.751953125, 189.580078125, 172.529296875, 19.951171875, -23.02734375, 6.414474010467529 ]
2.8
84
0
84
0
[ 22.587890625, 190.01953125, 169.62890625, 9.4921875, -16.875, 6.794425010681152 ]
[ 24.78515625, 189.580078125, 172.529296875, 18.193359375, -21.796875, 6.414474010467529 ]
2.833333
85
0
85
0
[ 22.236328125, 190.01953125, 169.62890625, 7.998046875, -16.5234375, 6.794425010681152 ]
[ 23.73046875, 189.580078125, 172.529296875, 16.083984375, -20.478515625, 6.414474010467529 ]
2.866667
86
0
86
0
[ 21.62109375, 190.01953125, 169.62890625, 6.50390625, -15.46875, 6.794425010681152 ]
[ 23.02734375, 189.580078125, 172.529296875, 13.974609375, -19.072265625, 6.414474010467529 ]
2.9
87
0
87
0
[ 21.09375, 190.01953125, 169.62890625, 4.921875, -14.23828125, 6.794425010681152 ]
[ 22.5, 189.580078125, 172.529296875, 12.041015625, -18.017578125, 6.414474010467529 ]
2.933333
88
0
88
0
[ 20.56640625, 190.01953125, 169.62890625, 3.779296875, -13.623046875, 6.794425010681152 ]
[ 22.236328125, 189.580078125, 172.529296875, 10.283203125, -16.962890625, 6.414474010467529 ]
2.966667
89
0
89
0
[ 20.302734375, 190.01953125, 169.62890625, 2.8125, -13.798828125, 6.794425010681152 ]
[ 22.1484375, 189.580078125, 172.529296875, 8.701171875, -15.908203125, 6.414474010467529 ]
3
90
0
90
0
[ 19.6875, 190.01953125, 169.62890625, 1.0546875, -12.392578125, 6.794425010681152 ]
[ 21.4453125, 189.580078125, 172.529296875, 7.119140625, -14.853515625, 6.414474010467529 ]
3.033333
91
0
91
0
[ 19.16015625, 190.01953125, 169.62890625, -0.703125, -10.810546875, 6.794425010681152 ]
[ 20.654296875, 189.580078125, 172.529296875, 5.888671875, -14.23828125, 6.414474010467529 ]
3.066667
92
0
92
0
[ 18.544921875, 190.01953125, 169.62890625, -2.4609375, -9.4921875, 6.794425010681152 ]
[ 19.86328125, 189.580078125, 172.529296875, 4.74609375, -13.447265625, 6.414474010467529 ]
3.1
93
0
93
0
[ 17.75390625, 190.01953125, 169.62890625, -4.130859375, -8.4375, 6.794425010681152 ]
[ 19.423828125, 189.580078125, 172.529296875, 3.603515625, -12.3046875, 6.414474010467529 ]
3.133333
94
0
94
0
[ 17.2265625, 189.931640625, 169.62890625, -5.185546875, -8.525390625, 6.794425010681152 ]
[ 19.072265625, 189.580078125, 172.529296875, 1.93359375, -11.07421875, 6.414474010467529 ]
3.166667
95
0
95
0
[ 16.875, 189.931640625, 169.62890625, -5.625, -9.052734375, 6.794425010681152 ]
[ 18.720703125, 189.4921875, 172.529296875, 0.439453125, -10.107421875, 6.414474010467529 ]
3.2
96
0
96
0
[ 16.083984375, 189.931640625, 169.62890625, -6.767578125, -6.85546875, 6.794425010681152 ]
[ 18.10546875, 189.228515625, 172.529296875, -0.791015625, -9.404296875, 6.414474010467529 ]
3.233333
97
0
97
0
[ 14.765625, 189.931640625, 169.62890625, -7.734375, -2.724609375, 6.794425010681152 ]
[ 17.2265625, 189.140625, 172.529296875, -1.7578125, -9.31640625, 6.414474010467529 ]
3.266667
98
0
98
0
[ 13.623046875, 189.931640625, 169.62890625, -7.91015625, 0, 6.794425010681152 ]
[ 16.435546875, 189.140625, 172.529296875, -2.63671875, -8.876953125, 6.414474010467529 ]
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": "v2.0",
    "robot_type": "so100",
    "total_episodes": 15,
    "total_frames": 17886,
    "total_tasks": 1,
    "total_videos": 30,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:15"
    },
    "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.laptop": {
            "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": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.phone": {
            "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": "av1",
                "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",
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                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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Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
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Number of rows:
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