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Datasets:
slowturtle99
/
so100_pick_place_blocks

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
Community
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action
sequence
observation.state
sequence
timestamp
float32
0
33.3
frame_index
int64
0
999
episode_index
int64
0
49
index
int64
0
35.1k
task_index
int64
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[ -2.8125, 193.974609375, 180.439453125, 77.34375, -79.8046875, 0.28612303733825684 ]
2.366667
71
0
71
0
[ -2.724609375, 192.568359375, 178.330078125, 79.716796875, -79.892578125, 1.708706259727478 ]
[ -2.63671875, 193.974609375, 180.17578125, 77.34375, -79.8046875, 0.7153075933456421 ]
2.4
72
0
72
0
[ -2.900390625, 190.546875, 176.8359375, 78.92578125, -79.27734375, 2.3596417903900146 ]
[ -2.63671875, 193.798828125, 179.82421875, 77.34375, -79.8046875, 1.001430630683899 ]
2.433333
73
0
73
0
[ -2.98828125, 187.91015625, 175.25390625, 77.958984375, -78.57421875, 3.173311710357666 ]
[ -2.63671875, 193.18359375, 179.6484375, 77.34375, -79.892578125, 1.2875536680221558 ]
2.466667
74
0
74
0
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[ -2.373046875, 192.392578125, 178.41796875, 77.34375, -79.892578125, 1.8597997426986694 ]
2.5
75
0
75
0
[ -2.98828125, 182.724609375, 171.474609375, 76.552734375, -77.6953125, 4.231082439422607 ]
[ -2.373046875, 190.546875, 177.451171875, 77.080078125, -79.365234375, 2.4320456981658936 ]
2.533333
76
0
76
0
[ -2.900390625, 180.52734375, 169.453125, 76.201171875, -77.607421875, 4.475183010101318 ]
[ -2.373046875, 188.61328125, 176.484375, 76.728515625, -78.837890625, 3.0042917728424072 ]
2.566667
77
0
77
0
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[ -2.548828125, 186.416015625, 175.517578125, 76.201171875, -77.6953125, 3.505007266998291 ]
2.6
78
0
78
0
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2.633333
79
0
79
0
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[ -2.8125, 181.845703125, 172.001953125, 75.9375, -78.3984375, 4.5064377784729 ]
2.666667
80
0
80
0
[ -1.494140625, 171.5625, 160.751953125, 74.091796875, -77.34375, 7.648494720458984 ]
[ -3.076171875, 179.47265625, 170.068359375, 75.849609375, -77.51953125, 5.007153034210205 ]
2.7
81
0
81
0
[ -0.87890625, 169.365234375, 158.73046875, 73.212890625, -77.783203125, 9.764036178588867 ]
[ -2.8125, 176.484375, 168.046875, 75.849609375, -78.046875, 5.650929927825928 ]
2.733333
82
0
82
0
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[ -2.197265625, 174.462890625, 165.76171875, 75.234375, -77.607421875, 6.652360439300537 ]
2.766667
83
0
83
0
[ 0.52734375, 165.41015625, 155.21484375, 71.103515625, -78.57421875, 11.879576683044434 ]
[ -1.58203125, 172.001953125, 163.828125, 74.619140625, -77.34375, 7.939913749694824 ]
2.8
84
0
84
0
[ 1.318359375, 163.564453125, 153.720703125, 69.697265625, -78.662109375, 12.937347412109375 ]
[ -0.615234375, 169.8046875, 162.0703125, 73.740234375, -77.607421875, 9.0128755569458 ]
2.833333
85
0
85
0
[ 2.109375, 161.89453125, 152.578125, 68.466796875, -79.189453125, 13.995118141174316 ]
[ 0.263671875, 167.958984375, 160.224609375, 72.685546875, -77.958984375, 10.085836410522461 ]
2.866667
86
0
86
0
[ 2.8125, 160.224609375, 151.34765625, 67.32421875, -79.8046875, 14.890154838562012 ]
[ 0.703125, 166.025390625, 158.466796875, 71.455078125, -78.22265625, 11.373390197753906 ]
2.9
87
0
87
0
[ 3.427734375, 158.291015625, 150.1171875, 66.09375, -79.98046875, 15.459723472595215 ]
[ 1.40625, 164.091796875, 156.884765625, 70.3125, -78.57421875, 12.446352005004883 ]
2.933333
88
0
88
0
[ 4.04296875, 156.357421875, 148.88671875, 64.951171875, -79.8046875, 16.354761123657227 ]
[ 1.845703125, 162.421875, 155.654296875, 69.169921875, -79.1015625, 13.51931381225586 ]
2.966667
89
0
89
0
[ 4.74609375, 154.248046875, 147.744140625, 64.072265625, -80.068359375, 16.842960357666016 ]
[ 2.109375, 160.48828125, 154.3359375, 67.939453125, -79.27734375, 14.30615234375 ]
3
90
0
90
0
[ 5.537109375, 152.05078125, 146.689453125, 63.193359375, -80.595703125, 18.307567596435547 ]
[ 2.8125, 158.642578125, 153.017578125, 66.796875, -79.27734375, 15.164521217346191 ]
3.033333
91
0
91
0
[ 6.240234375, 150.029296875, 145.810546875, 61.962890625, -80.68359375, 18.877134323120117 ]
[ 3.69140625, 156.533203125, 151.69921875, 65.7421875, -79.62890625, 15.951358795166016 ]
3.066667
92
0
92
0
[ 7.119140625, 148.0078125, 144.931640625, 60.732421875, -80.771484375, 19.446704864501953 ]
[ 4.5703125, 154.6875, 150.64453125, 64.86328125, -79.98046875, 16.809728622436523 ]
3.1
93
0
93
0
[ 7.822265625, 146.162109375, 143.96484375, 59.765625, -80.947265625, 20.17900848388672 ]
[ 5.712890625, 152.40234375, 149.58984375, 63.720703125, -80.244140625, 17.811159133911133 ]
3.133333
94
0
94
0
[ 8.525390625, 144.4921875, 143.26171875, 58.7109375, -81.298828125, 20.66720962524414 ]
[ 6.50390625, 150.380859375, 148.7109375, 62.578125, -80.33203125, 18.454936981201172 ]
3.166667
95
0
95
0
[ 9.228515625, 142.91015625, 142.646484375, 57.568359375, -81.73828125, 20.91131019592285 ]
[ 7.119140625, 148.447265625, 147.744140625, 61.5234375, -80.419921875, 19.170242309570312 ]
3.2
96
0
96
0
[ 9.931640625, 141.328125, 142.20703125, 56.513671875, -82.177734375, 21.07404327392578 ]
[ 7.646484375, 146.513671875, 146.953125, 60.46875, -80.771484375, 19.81402015686035 ]
3.233333
97
0
97
0
[ 10.634765625, 139.5703125, 141.6796875, 55.458984375, -82.529296875, 21.155410766601562 ]
[ 8.173828125, 144.84375, 146.25, 59.4140625, -81.123046875, 20.243206024169922 ]
3.266667
98
0
98
0
[ 11.25, 137.900390625, 141.15234375, 54.052734375, -82.6171875, 21.806344985961914 ]
[ 8.701171875, 142.998046875, 145.634765625, 58.18359375, -81.5625, 20.529327392578125 ]
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": 50,
    "total_frames": 35084,
    "total_tasks": 1,
    "total_videos": 100,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "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.wrist": {
            "dtype": "video",
            "shape": [
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            "names": [
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        "observation.images.top": {
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            "names": [
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                "channels"
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            "info": {
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        },
        "timestamp": {
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            "shape": [
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            "names": null
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        "frame_index": {
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            "names": null
        },
        "episode_index": {
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        "index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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Number of rows:
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