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Datasets:
sixpigs1
/
so100_insert_cylinder_error

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
insert_cylinder
grasp_position_offset
Libraries:
Datasets
Dask
License:
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action
sequence
observation.state
sequence
timestamp
float32
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12.9
frame_index
int64
0
386
episode_index
int64
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119
index
int64
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30.1k
task_index
int64
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2.566667
77
0
77
0
[ 3.076171875, 105.99609375, 108.017578125, 78.046875, -43.41796875, 24.24242401123047 ]
[ 2.373046875, 112.5, 110.21484375, 79.62890625, -41.396484375, 21.7391300201416 ]
2.6
78
0
78
0
[ 3.603515625, 104.326171875, 108.10546875, 76.9921875, -43.681640625, 25.140291213989258 ]
[ 2.28515625, 110.126953125, 110.21484375, 79.453125, -41.923828125, 22.371540069580078 ]
2.633333
79
0
79
0
[ 4.04296875, 102.568359375, 108.10546875, 76.025390625, -43.76953125, 25.589223861694336 ]
[ 2.4609375, 107.75390625, 110.21484375, 79.013671875, -42.5390625, 23.241107940673828 ]
2.666667
80
0
80
0
[ 4.482421875, 100.8984375, 108.017578125, 74.970703125, -43.9453125, 26.26262664794922 ]
[ 2.900390625, 105.8203125, 110.21484375, 78.3984375, -42.890625, 24.0316219329834 ]
2.7
81
0
81
0
[ 4.74609375, 99.404296875, 108.017578125, 74.00390625, -44.208984375, 26.711559295654297 ]
[ 3.427734375, 103.974609375, 110.21484375, 77.51953125, -43.154296875, 24.664030075073242 ]
2.733333
82
0
82
0
[ 4.921875, 97.998046875, 108.017578125, 72.94921875, -44.384765625, 27.160491943359375 ]
[ 3.955078125, 102.12890625, 110.21484375, 76.640625, -43.41796875, 25.3754940032959 ]
2.766667
83
0
83
0
[ 5.09765625, 96.50390625, 108.017578125, 71.89453125, -44.384765625, 27.4971923828125 ]
[ 4.306640625, 100.283203125, 110.21484375, 75.673828125, -43.681640625, 25.928855895996094 ]
2.8
84
0
84
0
[ 5.185546875, 95.009765625, 108.017578125, 70.83984375, -44.560546875, 27.60942840576172 ]
[ 4.482421875, 98.7890625, 110.21484375, 74.794921875, -43.857421875, 26.403162002563477 ]
2.833333
85
0
85
0
[ 5.2734375, 93.515625, 108.017578125, 69.873046875, -44.82421875, 27.60942840576172 ]
[ 4.482421875, 97.294921875, 110.21484375, 73.65234375, -44.033203125, 26.877471923828125 ]
2.866667
86
0
86
0
[ 5.44921875, 92.021484375, 107.9296875, 69.08203125, -45, 27.60942840576172 ]
[ 4.658203125, 95.80078125, 110.21484375, 72.685546875, -44.208984375, 27.035573959350586 ]
2.9
87
0
87
0
[ 5.537109375, 90.791015625, 108.017578125, 68.642578125, -45.439453125, 27.60942840576172 ]
[ 4.833984375, 94.21875, 110.21484375, 71.630859375, -44.384765625, 27.193674087524414 ]
2.933333
88
0
88
0
[ 5.625, 89.736328125, 108.193359375, 68.203125, -45.703125, 27.60942840576172 ]
[ 5.09765625, 92.724609375, 110.21484375, 70.751953125, -44.560546875, 27.193674087524414 ]
2.966667
89
0
89
0
[ 5.712890625, 88.857421875, 108.28125, 67.939453125, -45.87890625, 27.60942840576172 ]
[ 5.185546875, 91.318359375, 110.21484375, 70.048828125, -44.912109375, 27.193674087524414 ]
3
90
0
90
0
[ 5.80078125, 87.978515625, 108.28125, 67.67578125, -45.966796875, 27.60942840576172 ]
[ 5.2734375, 90.087890625, 110.21484375, 69.521484375, -45.17578125, 27.193674087524414 ]
3.033333
91
0
91
0
[ 5.9765625, 87.1875, 108.193359375, 67.32421875, -46.142578125, 27.272727966308594 ]
[ 5.2734375, 88.9453125, 110.21484375, 68.994140625, -45.439453125, 27.193674087524414 ]
3.066667
92
0
92
0
[ 6.064453125, 86.572265625, 108.10546875, 66.97265625, -46.23046875, 24.24242401123047 ]
[ 5.361328125, 88.06640625, 110.21484375, 68.5546875, -45.52734375, 27.193674087524414 ]
3.1
93
0
93
0
[ 6.240234375, 86.044921875, 108.10546875, 66.533203125, -46.23046875, 18.8552188873291 ]
[ 5.44921875, 87.1875, 110.126953125, 68.203125, -45.703125, 27.193674087524414 ]
3.133333
94
0
94
0
[ 6.328125, 85.693359375, 108.10546875, 66.005859375, -46.0546875, 14.029180526733398 ]
[ 5.625, 86.484375, 110.126953125, 67.67578125, -45.87890625, 26.95652198791504 ]
3.166667
95
0
95
0
[ 6.50390625, 85.341796875, 108.10546875, 65.390625, -45.791015625, 6.060606002807617 ]
[ 5.80078125, 85.869140625, 110.0390625, 66.97265625, -45.87890625, 24.110671997070312 ]
3.2
96
0
96
0
[ 6.6796875, 85.166015625, 108.10546875, 64.86328125, -45.3515625, 0.11223345249891281 ]
[ 5.9765625, 85.517578125, 110.0390625, 66.533203125, -45.87890625, 20.79051399230957 ]
3.233333
97
0
97
0
[ 7.03125, 85.166015625, 108.10546875, 64.423828125, -44.912109375, 0.11223345249891281 ]
[ 5.9765625, 85.166015625, 110.0390625, 66.26953125, -45.87890625, 16.44268798828125 ]
3.266667
98
0
98
0
[ 7.294921875, 85.25390625, 108.28125, 64.072265625, -44.736328125, 0.11223345249891281 ]
[ 6.240234375, 84.990234375, 110.0390625, 66.09375, -45.87890625, 11.462450981140137 ]
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": 20,
    "total_frames": 5102,
    "total_tasks": 1,
    "total_videos": 40,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:20"
    },
    "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": {
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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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            "shape": [
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.above": {
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            "shape": [
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            "names": [
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        "observation.images.rightfront": {
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            "info": {
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        },
        "timestamp": {
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            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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        "index": {
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        }
    }
}

Citation

BibTeX:

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License:
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