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Datasets:
shylee
/
so100_pengripA

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
pengrip
Libraries:
Datasets
Dask
License:
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xet
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action
sequence
observation.state
sequence
timestamp
float32
0
9.93
frame_index
int64
0
298
episode_index
int64
0
299
index
int64
0
58.1k
task_index
int64
0
0
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72
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[ 6.85546875, 63.45703125, 33.486328125, 77.431640625, 7.03125, -0.0962463915348053 ]
[ 8.0859375, 72.7734375, 53.96484375, 69.169921875, 5.80078125, -0.07855460047721863 ]
2.433333
73
0
73
0
[ 6.85546875, 59.23828125, 27.158203125, 80.5078125, 7.294921875, -0.0962463915348053 ]
[ 7.998046875, 69.609375, 49.74609375, 71.455078125, 6.15234375, -0.07855460047721863 ]
2.466667
74
0
74
0
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[ 7.91015625, 66.357421875, 45.263671875, 73.916015625, 6.50390625, -0.07855460047721863 ]
2.5
75
0
75
0
[ 6.85546875, 48.779296875, 10.72265625, 88.59375, 7.55859375, -0.0962463915348053 ]
[ 7.822265625, 62.666015625, 40.4296875, 76.46484375, 6.767578125, -0.07855460047721863 ]
2.533333
76
0
76
0
[ 6.6796875, 43.06640625, 1.318359375, 92.63671875, 7.470703125, 0 ]
[ 7.822265625, 58.798828125, 34.892578125, 79.453125, 7.03125, 0 ]
2.566667
77
0
77
0
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[ 7.822265625, 54.052734375, 28.828125, 82.705078125, 7.119140625, 0 ]
2.6
78
0
78
0
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[ 7.822265625, 49.130859375, 21.181640625, 86.66015625, 7.119140625, 0 ]
2.633333
79
0
79
0
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[ 7.822265625, 45.52734375, 15.64453125, 89.384765625, 7.03125, 0.3142184019088745 ]
2.666667
80
0
80
0
[ 5.712890625, 40.60546875, 1.23046875, 94.658203125, 6.416015625, 12.99326229095459 ]
[ 7.55859375, 42.71484375, 11.07421875, 90.966796875, 6.85546875, 2.199528694152832 ]
2.7
81
0
81
0
[ 5.44921875, 40.25390625, 1.23046875, 95.009765625, 6.416015625, 15.399423599243164 ]
[ 7.20703125, 41.30859375, 8.0859375, 92.021484375, 6.767578125, 4.71327543258667 ]
2.733333
82
0
82
0
[ 5.2734375, 39.90234375, 1.23046875, 95.185546875, 6.416015625, 17.420597076416016 ]
[ 6.767578125, 40.517578125, 6.767578125, 93.1640625, 6.767578125, 8.012569427490234 ]
2.766667
83
0
83
0
[ 5.2734375, 39.638671875, 1.40625, 95.185546875, 6.591796875, 19.056785583496094 ]
[ 6.240234375, 40.166015625, 5.888671875, 93.779296875, 6.767578125, 10.526315689086914 ]
2.8
84
0
84
0
[ 5.2734375, 39.287109375, 1.40625, 95.185546875, 6.767578125, 19.923002243041992 ]
[ 5.625, 39.55078125, 5.009765625, 94.306640625, 6.767578125, 13.275726318359375 ]
2.833333
85
0
85
0
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[ 5.44921875, 39.0234375, 4.74609375, 94.5703125, 6.767578125, 15.632364273071289 ]
2.866667
86
0
86
0
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[ 5.2734375, 38.408203125, 4.74609375, 94.658203125, 6.767578125, 17.360565185546875 ]
2.9
87
0
87
0
[ 5.185546875, 38.3203125, 1.318359375, 94.921875, 6.85546875, 22.4254093170166 ]
[ 5.2734375, 38.056640625, 4.74609375, 94.74609375, 6.767578125, 18.460330963134766 ]
2.933333
88
0
88
0
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[ 5.2734375, 37.705078125, 4.74609375, 94.74609375, 6.767578125, 19.560094833374023 ]
2.966667
89
0
89
0
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[ 5.625, 37.44140625, 4.658203125, 94.74609375, 6.767578125, 20.738414764404297 ]
3
90
0
90
0
[ 5.185546875, 37.08984375, 1.318359375, 94.921875, 7.20703125, 24.3503360748291 ]
[ 5.888671875, 37.177734375, 4.658203125, 94.74609375, 6.767578125, 21.916732788085938 ]
3.033333
91
0
91
0
[ 5.185546875, 36.650390625, 1.318359375, 94.833984375, 7.294921875, 24.542829513549805 ]
[ 5.888671875, 36.650390625, 4.658203125, 94.74609375, 6.767578125, 22.780832290649414 ]
3.066667
92
0
92
0
[ 5.2734375, 36.123046875, 1.318359375, 94.658203125, 7.470703125, 24.542829513549805 ]
[ 5.80078125, 36.298828125, 4.658203125, 94.74609375, 6.85546875, 23.252161026000977 ]
3.1
93
0
93
0
[ 5.44921875, 35.5078125, 1.318359375, 94.658203125, 7.646484375, 24.639076232910156 ]
[ 5.80078125, 35.771484375, 4.658203125, 94.74609375, 6.85546875, 23.644933700561523 ]
3.133333
94
0
94
0
[ 5.625, 34.98046875, 1.318359375, 94.482421875, 7.822265625, 24.735322952270508 ]
[ 5.537109375, 35.244140625, 4.658203125, 94.74609375, 6.943359375, 23.959150314331055 ]
3.166667
95
0
95
0
[ 5.80078125, 34.365234375, 1.318359375, 94.306640625, 7.91015625, 24.735322952270508 ]
[ 5.2734375, 34.716796875, 4.658203125, 94.74609375, 7.20703125, 24.19481658935547 ]
3.2
96
0
96
0
[ 5.9765625, 33.662109375, 1.318359375, 94.04296875, 7.91015625, 24.735322952270508 ]
[ 5.185546875, 34.189453125, 4.658203125, 94.74609375, 7.3828125, 24.351924896240234 ]
3.233333
97
0
97
0
[ 6.064453125, 33.046875, 1.23046875, 93.779296875, 7.91015625, 24.735322952270508 ]
[ 5.09765625, 33.57421875, 4.658203125, 94.74609375, 7.470703125, 24.351924896240234 ]
3.266667
98
0
98
0
[ 6.15234375, 32.34375, 0.87890625, 93.515625, 7.822265625, 24.735322952270508 ]
[ 5.185546875, 32.783203125, 4.658203125, 94.74609375, 7.470703125, 24.509033203125 ]
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": 25,
    "total_frames": 6007,
    "total_tasks": 1,
    "total_videos": 75,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:25"
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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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            "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": [
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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.FrontCam": {
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        "observation.images.TopCam": {
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        "observation.images.WristCam": {
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            "info": {
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        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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