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Datasets:
liyitenga
/
so100_pick_taffy2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
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Dask
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action
sequence
observation.state
sequence
timestamp
float32
0
34.3
frame_index
int64
0
1.03k
episode_index
int64
0
19
index
int64
0
13.7k
task_index
int64
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[ -15.029296875, 190.8984375, 167.34375, 55.8984375, 10.8984375, 0.8641974925994873 ]
2.433333
73
0
73
0
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2.466667
74
0
74
0
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2.5
75
0
75
0
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[ -14.501953125, 190.810546875, 161.71875, 59.4140625, 13.271484375, 0.8641974925994873 ]
2.533333
76
0
76
0
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2.566667
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0
77
0
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2.6
78
0
78
0
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2.633333
79
0
79
0
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2.666667
80
0
80
0
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[ -11.865234375, 182.8125, 149.765625, 66.4453125, 19.423828125, 1.3580247163772583 ]
2.7
81
0
81
0
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2.733333
82
0
82
0
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[ -11.42578125, 177.01171875, 143.876953125, 69.9609375, 22.060546875, 2.9629628658294678 ]
2.766667
83
0
83
0
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[ -11.07421875, 173.3203125, 140.888671875, 71.54296875, 23.203125, 4.074073791503906 ]
2.8
84
0
84
0
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[ -10.72265625, 169.716796875, 137.8125, 73.388671875, 24.609375, 5.061728477478027 ]
2.833333
85
0
85
0
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[ -10.546875, 166.025390625, 134.560546875, 75.234375, 25.927734375, 6.2962965965271 ]
2.866667
86
0
86
0
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[ -10.72265625, 162.24609375, 131.484375, 76.9921875, 27.24609375, 7.654321193695068 ]
2.9
87
0
87
0
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[ -11.162109375, 158.203125, 128.14453125, 78.3984375, 28.828125, 8.395061492919922 ]
2.933333
88
0
88
0
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[ -11.25, 154.072265625, 125.068359375, 79.892578125, 30.234375, 8.88888931274414 ]
2.966667
89
0
89
0
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[ -11.162109375, 149.94140625, 122.255859375, 80.947265625, 31.9921875, 9.259259223937988 ]
3
90
0
90
0
[ -12.48046875, 134.6484375, 106.171875, 83.671875, 41.044921875, 10.684273719787598 ]
[ -11.07421875, 145.986328125, 119.443359375, 81.826171875, 33.57421875, 9.506173133850098 ]
3.033333
91
0
91
0
[ -12.83203125, 132.802734375, 105.029296875, 83.671875, 42.451171875, 10.684273719787598 ]
[ -11.07421875, 142.294921875, 116.982421875, 82.353515625, 35.15625, 9.506173133850098 ]
3.066667
92
0
92
0
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[ -11.25, 138.8671875, 114.9609375, 82.705078125, 37.001953125, 9.506173133850098 ]
3.1
93
0
93
0
[ -13.53515625, 128.84765625, 102.65625, 84.814453125, 45.17578125, 13.32533073425293 ]
[ -11.6015625, 135.966796875, 113.291015625, 82.79296875, 38.583984375, 9.506173133850098 ]
3.133333
94
0
94
0
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[ -12.041015625, 133.330078125, 111.533203125, 83.3203125, 40.078125, 10.123456954956055 ]
3.166667
95
0
95
0
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[ -12.48046875, 130.95703125, 110.126953125, 83.671875, 41.572265625, 11.111111640930176 ]
3.2
96
0
96
0
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[ -12.919921875, 129.0234375, 109.072265625, 83.671875, 43.330078125, 11.851851463317871 ]
3.233333
97
0
97
0
[ -14.326171875, 124.453125, 101.953125, 84.638671875, 52.470703125, 13.32533073425293 ]
[ -12.919921875, 127.353515625, 108.193359375, 83.759765625, 45.087890625, 12.222222328186035 ]
3.266667
98
0
98
0
[ -14.4140625, 124.27734375, 102.3046875, 84.111328125, 53.96484375, 13.32533073425293 ]
[ -13.0078125, 125.859375, 107.666015625, 83.84765625, 46.7578125, 12.469136238098145 ]
3.3
99
0
99
0
End of preview. Expand in Dataset Viewer.

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "so100",
    "total_episodes": 20,
    "total_frames": 13702,
    "total_tasks": 1,
    "total_videos": 40,
    "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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                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
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    }
}

Citation

BibTeX:

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