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Datasets:
shylee
/
so100_pengripG

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
pengrip
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
Community
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action
sequence
observation.state
sequence
timestamp
float32
0
10.5
frame_index
int64
0
314
episode_index
int64
0
299
index
int64
0
63.4k
task_index
int64
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2.4
72
0
72
0
[ 19.775390625, 117.421875, 98.4375, 76.9921875, -27.94921875, 4.514889240264893 ]
[ 19.599609375, 118.740234375, 98.701171875, 79.453125, -24.345703125, 3.1446542739868164 ]
2.433333
73
0
73
0
[ 20.0390625, 116.71875, 98.4375, 76.46484375, -28.30078125, 6.051873207092285 ]
[ 19.599609375, 118.037109375, 98.876953125, 79.1015625, -25.224609375, 3.1446542739868164 ]
2.466667
74
0
74
0
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[ 19.599609375, 117.421875, 98.876953125, 78.92578125, -25.927734375, 3.563941240310669 ]
2.5
75
0
75
0
[ 20.7421875, 115.400390625, 98.26171875, 75.41015625, -29.1796875, 8.741595268249512 ]
[ 19.599609375, 116.806640625, 98.876953125, 78.486328125, -26.54296875, 4.402515888214111 ]
2.533333
76
0
76
0
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[ 19.599609375, 116.015625, 98.876953125, 77.958984375, -27.0703125, 5.380852699279785 ]
2.566667
77
0
77
0
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[ 19.775390625, 115.3125, 98.876953125, 77.431640625, -27.59765625, 6.568832874298096 ]
2.6
78
0
78
0
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2.633333
79
0
79
0
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[ 20.478515625, 114.43359375, 98.876953125, 76.552734375, -28.740234375, 9.923130989074707 ]
2.666667
80
0
80
0
[ 22.5, 113.642578125, 99.580078125, 73.828125, -32.607421875, 18.15561866760254 ]
[ 21.005859375, 113.994140625, 98.876953125, 76.201171875, -29.35546875, 11.949685096740723 ]
2.7
81
0
81
0
[ 22.8515625, 113.5546875, 100.283203125, 73.564453125, -33.486328125, 19.980789184570312 ]
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2.733333
82
0
82
0
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[ 21.62109375, 113.5546875, 100.01953125, 75.498046875, -30.76171875, 15.723270416259766 ]
2.766667
83
0
83
0
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[ 21.97265625, 113.291015625, 100.634765625, 75.234375, -31.552734375, 17.19077491760254 ]
2.8
84
0
84
0
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[ 22.32421875, 112.939453125, 101.337890625, 75.234375, -32.34375, 18.378755569458008 ]
2.833333
85
0
85
0
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[ 22.67578125, 112.67578125, 102.041015625, 75.146484375, -33.134765625, 19.42697525024414 ]
2.866667
86
0
86
0
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[ 23.115234375, 112.1484375, 102.392578125, 74.8828125, -33.75, 20.195667266845703 ]
2.9
87
0
87
0
[ 25.751953125, 110.21484375, 103.18359375, 71.103515625, -35.771484375, 21.70989418029785 ]
[ 23.5546875, 111.357421875, 102.744140625, 74.619140625, -34.189453125, 20.68483543395996 ]
2.933333
88
0
88
0
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[ 24.08203125, 110.830078125, 103.271484375, 74.00390625, -34.453125, 20.964359283447266 ]
2.966667
89
0
89
0
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[ 24.609375, 110.126953125, 103.623046875, 73.212890625, -34.62890625, 21.104122161865234 ]
3
90
0
90
0
[ 26.982421875, 107.40234375, 103.623046875, 68.02734375, -35.419921875, 21.70989418029785 ]
[ 25.13671875, 109.248046875, 103.88671875, 72.333984375, -34.8046875, 21.17400550842285 ]
3.033333
91
0
91
0
[ 27.24609375, 106.435546875, 103.623046875, 67.1484375, -35.244140625, 21.70989418029785 ]
[ 25.576171875, 108.369140625, 104.0625, 71.279296875, -34.8046875, 21.243885040283203 ]
3.066667
92
0
92
0
[ 27.509765625, 105.46875, 103.623046875, 66.26953125, -34.716796875, 21.70989418029785 ]
[ 26.015625, 107.40234375, 104.150390625, 70.400390625, -34.8046875, 21.243885040283203 ]
3.1
93
0
93
0
[ 27.59765625, 104.501953125, 103.53515625, 65.56640625, -34.27734375, 21.70989418029785 ]
[ 26.3671875, 106.435546875, 104.150390625, 69.521484375, -34.8046875, 21.243885040283203 ]
3.133333
94
0
94
0
[ 27.7734375, 103.447265625, 103.447265625, 64.86328125, -33.837890625, 21.70989418029785 ]
[ 26.630859375, 105.556640625, 104.150390625, 68.5546875, -34.8046875, 21.243885040283203 ]
3.166667
95
0
95
0
[ 27.861328125, 102.392578125, 103.271484375, 64.3359375, -33.310546875, 21.80595588684082 ]
[ 26.89453125, 104.58984375, 104.150390625, 67.763671875, -34.8046875, 21.243885040283203 ]
3.2
96
0
96
0
[ 27.861328125, 101.42578125, 103.095703125, 63.720703125, -32.607421875, 21.80595588684082 ]
[ 27.0703125, 103.53515625, 104.150390625, 66.97265625, -34.62890625, 21.243885040283203 ]
3.233333
97
0
97
0
[ 27.861328125, 100.37109375, 102.83203125, 63.369140625, -31.904296875, 21.90201759338379 ]
[ 27.24609375, 102.392578125, 104.150390625, 66.357421875, -34.365234375, 21.243885040283203 ]
3.266667
98
0
98
0
[ 27.861328125, 99.404296875, 102.48046875, 63.193359375, -31.025390625, 21.90201759338379 ]
[ 27.333984375, 101.337890625, 104.150390625, 65.7421875, -33.92578125, 21.243885040283203 ]
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": 6558,
    "total_tasks": 1,
    "total_videos": 75,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
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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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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
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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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                "channels"
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            "info": {
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        "timestamp": {
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        "frame_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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