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Datasets:
gxy1111
/
so100_close_drawer

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
Libraries:
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Dask
License:
Dataset card Data Studio Files
xet
Community
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action
sequence
observation.state
sequence
timestamp
float32
0
7.5
frame_index
int64
0
225
episode_index
int64
0
29
index
int64
0
4.46k
task_index
int64
0
0
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73
0
[ 14.677734375, 191.77734375, 173.84765625, 51.416015625, -7.998046875, 0 ]
[ 17.490234375, 191.953125, 173.759765625, 49.74609375, -5.537109375, 0.4149377942085266 ]
2.466667
74
0
74
0
[ 14.501953125, 191.25, 173.49609375, 52.119140625, -9.755859375, 0 ]
[ 16.611328125, 191.953125, 173.759765625, 50.44921875, -6.15234375, 0.4149377942085266 ]
2.5
75
0
75
0
[ 14.4140625, 190.1953125, 172.96875, 53.173828125, -13.359375, 0 ]
[ 15.8203125, 191.865234375, 173.671875, 51.064453125, -6.85546875, 0.4149377942085266 ]
2.533333
76
0
76
0
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[ 15.380859375, 191.6015625, 173.583984375, 51.6796875, -8.173828125, 0.4149377942085266 ]
2.566667
77
0
77
0
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[ 15.205078125, 190.810546875, 173.408203125, 52.55859375, -10.107421875, 0.4149377942085266 ]
2.6
78
0
78
0
[ 16.171875, 184.74609375, 169.98046875, 55.283203125, -22.1484375, 0 ]
[ 15.205078125, 189.755859375, 173.232421875, 53.525390625, -12.919921875, 0.4149377942085266 ]
2.633333
79
0
79
0
[ 17.40234375, 182.197265625, 168.75, 55.37109375, -24.78515625, 0 ]
[ 15.205078125, 188.61328125, 172.705078125, 54.228515625, -15.732421875, 0.4149377942085266 ]
2.666667
80
0
80
0
[ 18.45703125, 179.208984375, 167.51953125, 55.107421875, -26.71875, 0 ]
[ 15.64453125, 187.03125, 172.353515625, 54.755859375, -18.369140625, 0.4149377942085266 ]
2.7
81
0
81
0
[ 19.599609375, 175.869140625, 166.11328125, 54.755859375, -28.4765625, 0 ]
[ 16.5234375, 184.39453125, 171.73828125, 54.84375, -21.005859375, 0.4149377942085266 ]
2.733333
82
0
82
0
[ 20.7421875, 172.177734375, 164.267578125, 54.31640625, -31.376953125, 0 ]
[ 17.490234375, 182.197265625, 170.947265625, 54.84375, -23.37890625, 0.4149377942085266 ]
2.766667
83
0
83
0
[ 21.796875, 167.6953125, 162.0703125, 53.701171875, -32.255859375, 0 ]
[ 18.28125, 179.47265625, 169.8046875, 54.84375, -25.48828125, 0.4149377942085266 ]
2.8
84
0
84
0
[ 22.412109375, 161.982421875, 158.73046875, 53.876953125, -33.662109375, 0 ]
[ 19.423828125, 176.396484375, 168.3984375, 54.84375, -27.7734375, 0.4149377942085266 ]
2.833333
85
0
85
0
[ 23.115234375, 155.126953125, 154.423828125, 54.4921875, -35.859375, 0 ]
[ 20.56640625, 172.96875, 166.640625, 54.755859375, -29.619140625, 0.4149377942085266 ]
2.866667
86
0
86
0
[ 24.08203125, 147.744140625, 149.150390625, 55.72265625, -39.0234375, 0 ]
[ 21.357421875, 169.013671875, 164.53125, 54.66796875, -31.201171875, 0.4149377942085266 ]
2.9
87
0
87
0
[ 24.78515625, 140.2734375, 143.349609375, 58.0078125, -41.748046875, 0 ]
[ 22.1484375, 164.267578125, 161.630859375, 54.84375, -33.22265625, 0.4149377942085266 ]
2.933333
88
0
88
0
[ 24.9609375, 134.208984375, 138.515625, 58.623046875, -39.814453125, 0 ]
[ 23.02734375, 158.994140625, 158.02734375, 55.458984375, -35.419921875, 0.4149377942085266 ]
2.966667
89
0
89
0
[ 24.9609375, 130.693359375, 135.615234375, 58.53515625, -38.935546875, 0 ]
[ 23.818359375, 153.017578125, 153.720703125, 56.77734375, -37.880859375, 0.4149377942085266 ]
3
90
0
90
0
[ 24.9609375, 129.19921875, 134.384765625, 57.568359375, -38.583984375, 0 ]
[ 24.2578125, 146.865234375, 149.150390625, 57.65625, -39.19921875, 0.4149377942085266 ]
3.033333
91
0
91
0
[ 24.78515625, 128.935546875, 133.76953125, 57.3046875, -38.49609375, 0 ]
[ 24.43359375, 140.9765625, 144.84375, 57.83203125, -38.935546875, 0.4149377942085266 ]
3.066667
92
0
92
0
[ 24.345703125, 129.19921875, 133.2421875, 57.568359375, -37.79296875, 0 ]
[ 24.521484375, 136.142578125, 141.328125, 57.65625, -38.583984375, 0.4149377942085266 ]
3.1
93
0
93
0
[ 23.994140625, 129.462890625, 132.802734375, 58.095703125, -36.73828125, 0 ]
[ 24.521484375, 133.06640625, 139.130859375, 57.65625, -38.49609375, 0.4149377942085266 ]
3.133333
94
0
94
0
[ 23.642578125, 129.0234375, 132.099609375, 58.7109375, -35.419921875, 0 ]
[ 24.43359375, 131.572265625, 137.8125, 57.744140625, -38.14453125, 0.4149377942085266 ]
3.166667
95
0
95
0
[ 23.115234375, 127.79296875, 131.572265625, 58.974609375, -34.716796875, 0 ]
[ 24.43359375, 130.693359375, 136.7578125, 58.0078125, -37.353515625, 0.4149377942085266 ]
3.2
96
0
96
0
[ 22.763671875, 126.2109375, 131.044921875, 58.974609375, -34.1015625, 0 ]
[ 24.2578125, 129.814453125, 135.791015625, 58.447265625, -36.474609375, 0.4149377942085266 ]
3.233333
97
0
97
0
[ 22.587890625, 124.8046875, 130.517578125, 58.7109375, -33.662109375, 0 ]
[ 23.818359375, 128.671875, 134.912109375, 58.623046875, -35.595703125, 0.4149377942085266 ]
3.266667
98
0
98
0
[ 22.5, 123.57421875, 130.25390625, 57.83203125, -33.3984375, 0 ]
[ 23.466796875, 127.265625, 134.208984375, 58.7109375, -34.98046875, 0.4149377942085266 ]
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": 30,
    "total_frames": 4459,
    "total_tasks": 1,
    "total_videos": 60,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:30"
    },
    "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.eye": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
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                "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
            }
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
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            ],
            "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": {
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
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            "names": null
        }
    }
}

Citation

BibTeX:

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