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Datasets:
sixpigs1
/
so100_pull_cube_by_tool_error

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
pull_cube_by_tool
grasp_position_offset
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
 Community
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action
sequence
observation.state
sequence
timestamp
float32
0
10.9
frame_index
int64
0
326
episode_index
int64
0
159
index
int64
0
36.4k
task_index
int64
0
7
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[ 2.4609375, 104.0625, 100.72265625, 89.47265625, -90.439453125, 16.947250366210938 ]
[ -0.263671875, 106.083984375, 103.271484375, 90.263671875, -86.748046875, 15.415019989013672 ]
2.433333
73
0
73
0
[ 3.251953125, 103.447265625, 100.72265625, 89.033203125, -91.40625, 17.5084171295166 ]
[ 0.439453125, 104.94140625, 103.095703125, 89.560546875, -87.978515625, 15.494071006774902 ]
2.466667
74
0
74
0
[ 3.955078125, 102.83203125, 100.72265625, 88.59375, -92.021484375, 17.620651245117188 ]
[ 1.40625, 104.0625, 103.0078125, 89.82421875, -89.033203125, 16.126482009887695 ]
2.5
75
0
75
0
[ 4.5703125, 102.216796875, 100.8984375, 87.978515625, -92.28515625, 17.620651245117188 ]
[ 2.4609375, 103.359375, 102.919921875, 89.82421875, -90, 16.679841995239258 ]
2.533333
76
0
76
0
[ 5.185546875, 101.689453125, 101.337890625, 87.451171875, -92.900390625, 17.73288345336914 ]
[ 3.33984375, 102.65625, 102.919921875, 88.9453125, -90.87890625, 16.99604606628418 ]
2.566667
77
0
77
0
[ 5.712890625, 100.8984375, 101.513671875, 87.1875, -93.427734375, 17.73288345336914 ]
[ 3.779296875, 102.041015625, 102.919921875, 88.2421875, -91.40625, 17.23320198059082 ]
2.6
78
0
78
0
[ 6.15234375, 100.01953125, 101.689453125, 86.572265625, -93.427734375, 17.73288345336914 ]
[ 3.955078125, 101.25, 102.919921875, 88.154296875, -92.021484375, 17.312252044677734 ]
2.633333
79
0
79
0
[ 6.591796875, 99.140625, 101.953125, 85.78125, -93.427734375, 17.73288345336914 ]
[ 4.5703125, 100.634765625, 102.919921875, 88.2421875, -92.63671875, 17.39130401611328 ]
2.666667
80
0
80
0
[ 6.943359375, 98.173828125, 102.216796875, 84.990234375, -93.427734375, 17.73288345336914 ]
[ 5.2734375, 99.755859375, 102.919921875, 87.451171875, -92.8125, 17.470355987548828 ]
2.7
81
0
81
0
[ 7.20703125, 97.3828125, 102.83203125, 84.111328125, -93.427734375, 17.73288345336914 ]
[ 6.15234375, 98.7890625, 102.919921875, 86.396484375, -92.900390625, 17.470355987548828 ]
2.733333
82
0
82
0
[ 7.55859375, 96.591796875, 103.53515625, 83.056640625, -93.427734375, 17.73288345336914 ]
[ 6.6796875, 97.734375, 103.095703125, 85.60546875, -93.076171875, 17.470355987548828 ]
2.766667
83
0
83
0
[ 7.734375, 95.80078125, 104.326171875, 81.73828125, -93.427734375, 17.73288345336914 ]
[ 6.85546875, 97.119140625, 103.447265625, 85.517578125, -93.076171875, 17.470355987548828 ]
2.8
84
0
84
0
[ 7.91015625, 95.2734375, 105.46875, 80.15625, -93.427734375, 18.069583892822266 ]
[ 6.767578125, 96.328125, 103.88671875, 84.462890625, -93.076171875, 17.470355987548828 ]
2.833333
85
0
85
0
[ 8.0859375, 95.009765625, 106.962890625, 78.134765625, -93.427734375, 18.630752563476562 ]
[ 6.85546875, 95.537109375, 104.853515625, 82.705078125, -93.076171875, 17.470355987548828 ]
2.866667
86
0
86
0
[ 8.173828125, 94.74609375, 108.544921875, 76.025390625, -93.427734375, 19.191919326782227 ]
[ 7.20703125, 95.185546875, 105.8203125, 81.650390625, -93.076171875, 17.78656005859375 ]
2.9
87
0
87
0
[ 8.26171875, 94.306640625, 109.86328125, 74.35546875, -93.33984375, 19.52861976623535 ]
[ 7.998046875, 94.74609375, 107.05078125, 80.33203125, -93.076171875, 18.18181800842285 ]
2.933333
88
0
88
0
[ 8.26171875, 93.8671875, 111.005859375, 73.037109375, -93.1640625, 19.640851974487305 ]
[ 8.173828125, 94.482421875, 108.544921875, 78.22265625, -93.076171875, 18.6561279296875 ]
2.966667
89
0
89
0
[ 8.26171875, 93.515625, 112.1484375, 71.982421875, -93.1640625, 19.640851974487305 ]
[ 8.173828125, 93.955078125, 109.775390625, 76.376953125, -93.076171875, 18.972332000732422 ]
3
90
0
90
0
[ 8.26171875, 93.427734375, 113.5546875, 70.48828125, -93.251953125, 19.640851974487305 ]
[ 7.822265625, 93.603515625, 111.005859375, 74.53125, -93.076171875, 19.130434036254883 ]
3.033333
91
0
91
0
[ 8.26171875, 93.33984375, 115.13671875, 68.73046875, -93.427734375, 19.640851974487305 ]
[ 7.646484375, 93.427734375, 112.1484375, 73.564453125, -93.076171875, 19.20948600769043 ]
3.066667
92
0
92
0
[ 8.26171875, 93.33984375, 116.630859375, 67.060546875, -93.427734375, 19.75308609008789 ]
[ 7.734375, 93.33984375, 113.642578125, 72.509765625, -93.076171875, 19.20948600769043 ]
3.1
93
0
93
0
[ 8.26171875, 93.427734375, 118.212890625, 65.302734375, -93.427734375, 19.97755241394043 ]
[ 8.173828125, 93.33984375, 115.13671875, 70.576171875, -93.076171875, 19.288536071777344 ]
3.133333
94
0
94
0
[ 8.26171875, 93.603515625, 119.53125, 63.896484375, -93.427734375, 19.97755241394043 ]
[ 8.4375, 93.33984375, 116.3671875, 68.5546875, -93.076171875, 19.446640014648438 ]
3.166667
95
0
95
0
[ 8.173828125, 93.603515625, 120.5859375, 62.841796875, -93.427734375, 19.97755241394043 ]
[ 8.4375, 93.33984375, 117.94921875, 67.236328125, -93.076171875, 19.683794021606445 ]
3.2
96
0
96
0
[ 8.173828125, 93.603515625, 121.376953125, 62.05078125, -93.427734375, 19.97755241394043 ]
[ 8.26171875, 93.33984375, 119.35546875, 66.181640625, -93.1640625, 19.683794021606445 ]
3.233333
97
0
97
0
[ 8.0859375, 93.427734375, 121.81640625, 61.435546875, -93.427734375, 19.97755241394043 ]
[ 8.0859375, 93.33984375, 120.322265625, 64.51171875, -93.1640625, 19.683794021606445 ]
3.266667
98
0
98
0
[ 8.0859375, 93.251953125, 122.080078125, 61.083984375, -93.427734375, 19.97755241394043 ]
[ 7.91015625, 93.33984375, 121.201171875, 63.017578125, -93.1640625, 19.683794021606445 ]
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": 4381,
    "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": {
            "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.above": {
            "dtype": "video",
            "shape": [
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                3
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            "names": [
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            "info": {
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                "video.codec": "av1",
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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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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
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Number of rows:
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