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Datasets:
joonsu0109
/
so100_pickup_green_lego

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
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Dask
License:
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action
sequence
observation.state
sequence
timestamp
float32
0
14.9
frame_index
int64
0
447
episode_index
int64
0
39
index
int64
0
17.9k
task_index
int64
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2.3
69
0
69
0
[ 3.8671875, 188.26171875, 170.771484375, 72.333984375, -72.333984375, 4.602888107299805 ]
[ 2.197265625, 187.91015625, 174.111328125, 75.05859375, -75.41015625, 2.7567195892333984 ]
2.333333
70
0
70
0
[ 4.306640625, 187.646484375, 169.541015625, 71.279296875, -70.6640625, 5.595667839050293 ]
[ 2.63671875, 187.91015625, 173.056640625, 74.35546875, -74.619140625, 3.170227289199829 ]
2.366667
71
0
71
0
[ 4.482421875, 186.591796875, 168.134765625, 70.400390625, -68.818359375, 6.137184143066406 ]
[ 3.076171875, 187.734375, 172.265625, 73.65234375, -73.65234375, 3.859407424926758 ]
2.4
72
0
72
0
[ 4.74609375, 185.44921875, 166.904296875, 69.697265625, -67.236328125, 7.5812273025512695 ]
[ 3.515625, 187.55859375, 171.650390625, 72.7734375, -72.24609375, 4.617505073547363 ]
2.433333
73
0
73
0
[ 5.009765625, 184.39453125, 165.76171875, 68.73046875, -65.0390625, 8.664259910583496 ]
[ 3.955078125, 187.20703125, 170.595703125, 71.89453125, -70.83984375, 5.237767219543457 ]
2.466667
74
0
74
0
[ 5.361328125, 183.251953125, 164.70703125, 67.8515625, -63.017578125, 9.296029090881348 ]
[ 4.306640625, 186.6796875, 169.62890625, 71.103515625, -69.2578125, 6.133700847625732 ]
2.5
75
0
75
0
[ 5.712890625, 182.021484375, 163.828125, 66.708984375, -60.908203125, 10.018051147460938 ]
[ 4.5703125, 185.9765625, 168.662109375, 70.13671875, -67.5, 7.236388206481934 ]
2.533333
76
0
76
0
[ 6.064453125, 180.87890625, 162.94921875, 65.830078125, -58.798828125, 11.281588554382324 ]
[ 4.658203125, 184.921875, 167.607421875, 69.345703125, -65.56640625, 8.132323265075684 ]
2.566667
77
0
77
0
[ 6.240234375, 179.82421875, 162.333984375, 64.86328125, -56.689453125, 12.81588363647461 ]
[ 5.009765625, 183.955078125, 166.728515625, 68.37890625, -63.6328125, 8.821502685546875 ]
2.6
78
0
78
0
[ 6.50390625, 178.857421875, 161.806640625, 63.896484375, -54.140625, 13.718411445617676 ]
[ 5.537109375, 182.724609375, 165.849609375, 67.412109375, -61.611328125, 9.85527229309082 ]
2.633333
79
0
79
0
[ 6.6796875, 177.802734375, 161.015625, 63.10546875, -52.20703125, 14.259928703308105 ]
[ 6.064453125, 181.58203125, 165.234375, 66.533203125, -59.58984375, 11.164713859558105 ]
2.666667
80
0
80
0
[ 6.85546875, 176.66015625, 160.3125, 62.40234375, -50.361328125, 14.620939254760742 ]
[ 6.064453125, 180.52734375, 164.619140625, 65.56640625, -57.392578125, 12.198484420776367 ]
2.7
81
0
81
0
[ 7.294921875, 175.4296875, 159.521484375, 61.69921875, -47.197265625, 15.97472858428955 ]
[ 5.9765625, 179.47265625, 163.916015625, 64.6875, -55.283203125, 13.025500297546387 ]
2.733333
82
0
82
0
[ 7.55859375, 174.19921875, 158.90625, 61.171875, -45.087890625, 17.418771743774414 ]
[ 6.15234375, 178.330078125, 163.037109375, 63.984375, -53.26171875, 13.64576244354248 ]
2.766667
83
0
83
0
[ 7.734375, 173.056640625, 158.466796875, 60.732421875, -43.505859375, 17.689531326293945 ]
[ 6.85546875, 177.1875, 162.333984375, 63.193359375, -50.888671875, 14.610613822937012 ]
2.8
84
0
84
0
[ 7.91015625, 171.73828125, 158.37890625, 60.029296875, -42.01171875, 17.689531326293945 ]
[ 7.294921875, 175.95703125, 161.71875, 62.578125, -48.427734375, 15.851137161254883 ]
2.833333
85
0
85
0
[ 8.0859375, 170.33203125, 158.37890625, 59.0625, -40.4296875, 17.689531326293945 ]
[ 7.20703125, 174.7265625, 161.279296875, 61.962890625, -46.494140625, 16.471399307250977 ]
2.866667
86
0
86
0
[ 8.61328125, 168.57421875, 158.291015625, 58.0078125, -38.84765625, 17.689531326293945 ]
[ 7.03125, 173.583984375, 161.103515625, 61.34765625, -44.736328125, 16.815988540649414 ]
2.9
87
0
87
0
[ 9.31640625, 166.46484375, 157.8515625, 56.77734375, -37.353515625, 17.689531326293945 ]
[ 7.55859375, 172.177734375, 160.927734375, 60.46875, -42.978515625, 17.091659545898438 ]
2.933333
88
0
88
0
[ 10.107421875, 164.1796875, 157.32421875, 56.07421875, -34.892578125, 17.960289001464844 ]
[ 8.349609375, 170.68359375, 160.83984375, 59.58984375, -41.220703125, 17.2294979095459 ]
2.966667
89
0
89
0
[ 10.8984375, 161.89453125, 156.4453125, 55.72265625, -32.255859375, 18.41155242919922 ]
[ 8.701171875, 168.837890625, 160.48828125, 58.53515625, -39.55078125, 17.436250686645508 ]
3
90
0
90
0
[ 11.6015625, 159.697265625, 155.478515625, 55.72265625, -29.8828125, 18.772563934326172 ]
[ 8.876953125, 166.640625, 159.873046875, 57.65625, -37.79296875, 17.64300537109375 ]
3.033333
91
0
91
0
[ 11.865234375, 157.8515625, 154.86328125, 55.546875, -28.125, 18.862815856933594 ]
[ 9.755859375, 164.35546875, 159.08203125, 57.216796875, -35.5078125, 17.987594604492188 ]
3.066667
92
0
92
0
[ 12.12890625, 156.005859375, 154.3359375, 55.546875, -26.71875, 19.31407928466797 ]
[ 10.8984375, 162.333984375, 158.291015625, 56.865234375, -33.22265625, 18.263267517089844 ]
3.1
93
0
93
0
[ 12.3046875, 154.599609375, 154.248046875, 55.01953125, -25.927734375, 19.31407928466797 ]
[ 11.162109375, 160.3125, 157.67578125, 56.6015625, -31.11328125, 18.470020294189453 ]
3.133333
94
0
94
0
[ 12.744140625, 153.28125, 154.248046875, 54.052734375, -25.400390625, 19.404333114624023 ]
[ 11.07421875, 158.466796875, 157.236328125, 56.337890625, -29.35546875, 18.81460952758789 ]
3.166667
95
0
95
0
[ 13.271484375, 152.2265625, 154.423828125, 52.822265625, -25.224609375, 19.404333114624023 ]
[ 11.6015625, 156.62109375, 157.060546875, 55.8984375, -28.037109375, 18.95244789123535 ]
3.2
96
0
96
0
[ 13.974609375, 151.171875, 154.51171875, 51.767578125, -25.048828125, 19.404333114624023 ]
[ 12.48046875, 155.21484375, 156.97265625, 55.1953125, -27.158203125, 19.090282440185547 ]
3.233333
97
0
97
0
[ 14.58984375, 150.29296875, 154.599609375, 50.80078125, -24.873046875, 19.31407928466797 ]
[ 12.744140625, 153.896484375, 156.884765625, 54.228515625, -26.54296875, 19.090282440185547 ]
3.266667
98
0
98
0
[ 15.1171875, 149.501953125, 154.599609375, 50.009765625, -24.78515625, 19.223827362060547 ]
[ 12.83203125, 152.75390625, 156.884765625, 53.349609375, -26.015625, 19.090282440185547 ]
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": 896,
    "total_tasks": 1,
    "total_videos": 4,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
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    "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": {
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                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
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            "shape": [
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
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        },
        "observation.images.laptop": {
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        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        }
    }
}

Citation

BibTeX:

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License:
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