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Datasets:
ds0909
/
so100_pen_in_tray_ep50

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
ep50
pen_in_tray
Libraries:
Datasets
Dask
License:
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xet
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action
sequence
observation.state
sequence
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
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[ -3.076171875, 39.19921875, 29.794921875, 99.4921875, -122.607421875, 18.899272918701172 ]
[ -3.076171875, 38.3203125, 32.080078125, 99.404296875, -122.51953125, 18.8679256439209 ]
2.4
72
0
72
0
[ -3.076171875, 39.0234375, 29.70703125, 99.4921875, -122.607421875, 18.899272918701172 ]
[ -3.076171875, 38.3203125, 32.080078125, 99.404296875, -122.51953125, 18.8679256439209 ]
2.433333
73
0
73
0
[ -3.076171875, 38.84765625, 29.443359375, 99.4921875, -122.255859375, 18.899272918701172 ]
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2.466667
74
0
74
0
[ -3.076171875, 38.759765625, 29.35546875, 99.4921875, -121.81640625, 18.69158935546875 ]
[ -3.1640625, 38.3203125, 32.080078125, 99.404296875, -122.51953125, 18.8679256439209 ]
2.5
75
0
75
0
[ -3.251953125, 38.671875, 29.267578125, 99.4921875, -121.11328125, 18.69158935546875 ]
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2.533333
76
0
76
0
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2.566667
77
0
77
0
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[ -3.1640625, 38.14453125, 31.728515625, 99.404296875, -121.904296875, 18.8679256439209 ]
2.6
78
0
78
0
[ -3.603515625, 38.671875, 29.35546875, 99.4921875, -119.091796875, 17.653167724609375 ]
[ -3.1640625, 38.056640625, 31.640625, 99.404296875, -121.640625, 18.8679256439209 ]
2.633333
79
0
79
0
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[ -3.1640625, 38.056640625, 31.640625, 99.404296875, -121.376953125, 18.8679256439209 ]
2.666667
80
0
80
0
[ -3.603515625, 38.408203125, 29.619140625, 99.4921875, -118.916015625, 17.34164047241211 ]
[ -3.1640625, 38.056640625, 31.640625, 99.404296875, -120.498046875, 18.378755569458008 ]
2.7
81
0
81
0
[ -3.603515625, 38.056640625, 29.70703125, 99.4921875, -119.091796875, 17.34164047241211 ]
[ -3.1640625, 38.056640625, 31.640625, 99.404296875, -119.8828125, 18.099231719970703 ]
2.733333
82
0
82
0
[ -3.603515625, 37.705078125, 29.70703125, 99.4921875, -119.1796875, 17.34164047241211 ]
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2.766667
83
0
83
0
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[ -3.1640625, 38.056640625, 31.640625, 99.404296875, -119.53125, 18.02935028076172 ]
2.8
84
0
84
0
[ -3.69140625, 37.79296875, 30.05859375, 99.580078125, -119.1796875, 17.44548225402832 ]
[ -3.1640625, 38.056640625, 31.640625, 99.404296875, -119.35546875, 17.88958740234375 ]
2.833333
85
0
85
0
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2.866667
86
0
86
0
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[ -3.1640625, 37.265625, 31.552734375, 99.404296875, -119.35546875, 17.67994499206543 ]
2.9
87
0
87
0
[ -3.69140625, 37.705078125, 31.11328125, 99.580078125, -119.00390625, 17.653167724609375 ]
[ -3.251953125, 37.001953125, 31.552734375, 99.404296875, -119.35546875, 17.67994499206543 ]
2.933333
88
0
88
0
[ -3.69140625, 37.44140625, 31.2890625, 99.580078125, -119.1796875, 17.653167724609375 ]
[ -3.33984375, 36.9140625, 31.552734375, 99.404296875, -119.35546875, 17.67994499206543 ]
2.966667
89
0
89
0
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[ -3.427734375, 36.9140625, 31.552734375, 99.404296875, -119.35546875, 17.67994499206543 ]
3
90
0
90
0
[ -3.515625, 37.79296875, 32.080078125, 99.580078125, -119.53125, 17.860851287841797 ]
[ -3.515625, 37.001953125, 31.552734375, 99.404296875, -119.35546875, 17.67994499206543 ]
3.033333
91
0
91
0
[ -3.515625, 38.232421875, 32.958984375, 99.580078125, -119.8828125, 17.964693069458008 ]
[ -3.515625, 37.001953125, 31.552734375, 99.404296875, -119.35546875, 17.67994499206543 ]
3.066667
92
0
92
0
[ -3.427734375, 38.408203125, 33.3984375, 99.580078125, -120.322265625, 17.964693069458008 ]
[ -3.515625, 36.9140625, 31.552734375, 99.404296875, -119.35546875, 17.67994499206543 ]
3.1
93
0
93
0
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[ -3.515625, 36.9140625, 31.552734375, 99.404296875, -119.35546875, 17.67994499206543 ]
3.133333
94
0
94
0
[ -2.98828125, 38.49609375, 33.57421875, 99.580078125, -121.376953125, 18.79543113708496 ]
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3.166667
95
0
95
0
[ -2.63671875, 38.759765625, 34.1015625, 99.580078125, -122.255859375, 19.003114700317383 ]
[ -3.427734375, 37.08984375, 32.958984375, 99.228515625, -120.146484375, 17.88958740234375 ]
3.2
96
0
96
0
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[ -3.427734375, 36.9140625, 33.310546875, 99.404296875, -120.234375, 17.959468841552734 ]
3.233333
97
0
97
0
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[ -3.427734375, 36.826171875, 33.3984375, 99.31640625, -120.234375, 17.959468841552734 ]
3.266667
98
0
98
0
[ -1.318359375, 39.90234375, 35.859375, 99.580078125, -123.837890625, 18.58774757385254 ]
[ -3.427734375, 36.9140625, 34.27734375, 99.140625, -121.11328125, 18.23899269104004 ]
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": 1,
    "total_frames": 899,
    "total_tasks": 1,
    "total_videos": 1,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:1"
    },
    "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.wrist": {
            "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": [
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            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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