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Datasets:
sixpigs1
/
so100_pull_cube_error

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
pull_cube
reach_position_offset
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
Community
Dataset Viewer
Auto-converted to Parquet Duplicate
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action
sequence
observation.state
sequence
timestamp
float32
0
14.8
frame_index
int64
0
444
episode_index
int64
0
81
index
int64
0
16.5k
task_index
int64
0
3
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[ -2.021484375, 83.935546875, 79.365234375, 59.677734375, -72.421875, 0.22446690499782562 ]
[ -1.494140625, 91.23046875, 88.505859375, 61.5234375, -68.203125, 0.6324110627174377 ]
2.566667
77
0
77
0
[ -2.021484375, 81.474609375, 77.607421875, 58.798828125, -73.65234375, 0.22446690499782562 ]
[ -1.58203125, 88.59375, 86.1328125, 61.34765625, -69.43359375, 0.6324110627174377 ]
2.6
78
0
78
0
[ -2.021484375, 79.1015625, 75.673828125, 58.623046875, -74.970703125, 0.22446690499782562 ]
[ -1.669921875, 86.044921875, 84.0234375, 60.732421875, -70.83984375, 0.6324110627174377 ]
2.633333
79
0
79
0
[ -2.109375, 77.080078125, 74.091796875, 58.53515625, -76.11328125, 0.22446690499782562 ]
[ -1.845703125, 83.408203125, 82.08984375, 60.029296875, -72.0703125, 0.6324110627174377 ]
2.666667
80
0
80
0
[ -2.109375, 75.322265625, 72.861328125, 58.53515625, -77.34375, 0.22446690499782562 ]
[ -1.845703125, 80.947265625, 80.068359375, 59.677734375, -73.30078125, 0.6324110627174377 ]
2.7
81
0
81
0
[ -2.109375, 74.091796875, 72.421875, 57.919921875, -78.57421875, 0.22446690499782562 ]
[ -2.021484375, 78.57421875, 78.22265625, 59.4140625, -74.619140625, 0.6324110627174377 ]
2.733333
82
0
82
0
[ -2.021484375, 73.125, 72.421875, 57.12890625, -79.892578125, 0.22446690499782562 ]
[ -2.109375, 76.2890625, 76.728515625, 59.326171875, -75.849609375, 0.6324110627174377 ]
2.766667
83
0
83
0
[ -2.021484375, 71.982421875, 72.421875, 56.42578125, -81.123046875, 0.22446690499782562 ]
[ -2.197265625, 74.70703125, 75.849609375, 58.798828125, -77.080078125, 0.6324110627174377 ]
2.8
84
0
84
0
[ -1.93359375, 70.83984375, 72.421875, 55.72265625, -82.177734375, 0.22446690499782562 ]
[ -2.28515625, 73.30078125, 75.498046875, 58.18359375, -78.310546875, 0.6324110627174377 ]
2.833333
85
0
85
0
[ -1.845703125, 69.609375, 72.421875, 55.107421875, -83.232421875, 0.22446690499782562 ]
[ -2.28515625, 71.806640625, 75.146484375, 57.48046875, -79.62890625, 0.6324110627174377 ]
2.866667
86
0
86
0
[ -1.845703125, 68.642578125, 72.421875, 54.755859375, -84.0234375, 0.22446690499782562 ]
[ -2.28515625, 70.751953125, 74.970703125, 56.865234375, -80.68359375, 0.6324110627174377 ]
2.9
87
0
87
0
[ -1.845703125, 67.67578125, 72.421875, 54.580078125, -84.990234375, 0.22446690499782562 ]
[ -2.28515625, 69.521484375, 74.8828125, 56.25, -81.73828125, 0.6324110627174377 ]
2.933333
88
0
88
0
[ -1.845703125, 66.533203125, 72.333984375, 53.96484375, -85.869140625, 0.22446690499782562 ]
[ -2.28515625, 68.466796875, 74.8828125, 55.810546875, -82.79296875, 0.6324110627174377 ]
2.966667
89
0
89
0
[ -1.7578125, 65.21484375, 72.0703125, 53.0859375, -86.748046875, 0.22446690499782562 ]
[ -2.28515625, 67.32421875, 74.8828125, 55.458984375, -83.84765625, 0.6324110627174377 ]
3
90
0
90
0
[ -1.58203125, 63.6328125, 71.71875, 52.119140625, -87.802734375, 0.22446690499782562 ]
[ -2.28515625, 66.26953125, 74.794921875, 54.931640625, -84.638671875, 0.6324110627174377 ]
3.033333
91
0
91
0
[ -1.318359375, 62.05078125, 71.19140625, 51.064453125, -88.681640625, 0.22446690499782562 ]
[ -2.28515625, 65.0390625, 74.443359375, 54.228515625, -85.60546875, 0.6324110627174377 ]
3.066667
92
0
92
0
[ -0.966796875, 60.46875, 70.6640625, 49.833984375, -89.736328125, 0.22446690499782562 ]
[ -2.197265625, 63.544921875, 74.091796875, 53.349609375, -86.572265625, 0.6324110627174377 ]
3.1
93
0
93
0
[ -0.52734375, 59.150390625, 70.3125, 48.515625, -90.703125, 0.22446690499782562 ]
[ -1.93359375, 61.962890625, 73.564453125, 52.3828125, -87.5390625, 0.6324110627174377 ]
3.133333
94
0
94
0
[ -0.17578125, 58.271484375, 70.224609375, 47.109375, -91.58203125, 0.22446690499782562 ]
[ -1.58203125, 60.46875, 73.125, 51.416015625, -88.505859375, 0.6324110627174377 ]
3.166667
95
0
95
0
[ 0.17578125, 57.65625, 70.224609375, 45.966796875, -92.373046875, 0.22446690499782562 ]
[ -1.142578125, 58.974609375, 72.7734375, 50.2734375, -89.560546875, 0.6324110627174377 ]
3.2
96
0
96
0
[ 0.52734375, 57.12890625, 70.13671875, 45.087890625, -92.8125, 0.22446690499782562 ]
[ -0.791015625, 58.0078125, 72.685546875, 48.955078125, -90.3515625, 0.6324110627174377 ]
3.233333
97
0
97
0
[ 0.703125, 56.689453125, 69.873046875, 44.6484375, -93.427734375, 0.22446690499782562 ]
[ -0.3515625, 57.216796875, 72.685546875, 47.724609375, -91.318359375, 0.6324110627174377 ]
3.266667
98
0
98
0
[ 0.791015625, 56.25, 69.43359375, 44.47265625, -93.779296875, 0.22446690499782562 ]
[ -0.087890625, 56.6015625, 72.59765625, 46.7578125, -91.93359375, 0.6324110627174377 ]
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": 3890,
    "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": [
                6
            ],
            "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": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.rightfront": {
            "dtype": "video",
            "shape": [
                480,
                640,
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            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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Downloads last month
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License:
apache-2.0
Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
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Number of rows:
16,453