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Datasets:
nbaron99
/
so100_pick_and_place4

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
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action
sequence
observation.state
sequence
timestamp
float32
0
9.87
frame_index
int64
0
296
episode_index
int64
0
99
index
int64
0
29.6k
task_index
int64
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[ -28.564453125, 107.75390625, 90.966796875, 87.802734375, 17.666015625, 0.41528236865997314 ]
2.533333
76
0
76
0
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2.566667
77
0
77
0
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2.6
78
0
78
0
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[ -30.498046875, 106.171875, 90.703125, 87.978515625, 19.16015625, 0.49833887815475464 ]
2.633333
79
0
79
0
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[ -31.11328125, 105.029296875, 90.17578125, 87.626953125, 19.6875, 1.2458471059799194 ]
2.666667
80
0
80
0
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[ -31.552734375, 103.623046875, 89.560546875, 87.626953125, 20.126953125, 0.9136213064193726 ]
2.7
81
0
81
0
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[ -31.9921875, 102.12890625, 88.76953125, 87.451171875, 20.56640625, 0.5813953280448914 ]
2.733333
82
0
82
0
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2.766667
83
0
83
0
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[ -32.6953125, 99.404296875, 87.802734375, 86.66015625, 21.97265625, 0.5813953280448914 ]
2.8
84
0
84
0
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[ -33.046875, 98.0859375, 87.626953125, 86.1328125, 22.32421875, 0.7475083470344543 ]
2.833333
85
0
85
0
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2.866667
86
0
86
0
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[ -33.57421875, 95.9765625, 87.451171875, 84.90234375, 23.291015625, 0.7475083470344543 ]
2.9
87
0
87
0
[ -35.859375, 95.2734375, 86.66015625, 81.826171875, 24.43359375, 4.417293071746826 ]
[ -33.837890625, 95.361328125, 87.5390625, 84.0234375, 23.5546875, 1.6611294746398926 ]
2.933333
88
0
88
0
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[ -34.1015625, 94.658203125, 87.5390625, 83.14453125, 23.73046875, 2.159468412399292 ]
2.966667
89
0
89
0
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[ -34.27734375, 94.21875, 87.5390625, 82.44140625, 24.08203125, 3.405315399169922 ]
3
90
0
90
0
[ -35.68359375, 92.8125, 87.01171875, 82.353515625, 27.158203125, 13.251879692077637 ]
[ -34.453125, 93.515625, 87.802734375, 82.265625, 24.609375, 5.730896949768066 ]
3.033333
91
0
91
0
[ -36.123046875, 92.021484375, 87.1875, 82.001953125, 27.158203125, 13.533835411071777 ]
[ -34.453125, 92.63671875, 87.802734375, 82.265625, 25.3125, 7.973422050476074 ]
3.066667
92
0
92
0
[ -36.650390625, 91.40625, 87.802734375, 81.2109375, 27.333984375, 13.063909530639648 ]
[ -34.62890625, 91.58203125, 87.890625, 82.265625, 26.015625, 9.883721351623535 ]
3.1
93
0
93
0
[ -37.08984375, 90.87890625, 88.330078125, 80.244140625, 27.685546875, 12.5 ]
[ -34.892578125, 91.0546875, 87.890625, 82.177734375, 26.3671875, 10.880398750305176 ]
3.133333
94
0
94
0
[ -37.265625, 90.087890625, 88.76953125, 79.453125, 27.861328125, 11.560150146484375 ]
[ -35.244140625, 90.439453125, 87.978515625, 81.474609375, 26.54296875, 11.29568099975586 ]
3.166667
95
0
95
0
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[ -35.68359375, 89.736328125, 88.41796875, 80.771484375, 26.71875, 11.212624549865723 ]
3.2
96
0
96
0
[ -36.474609375, 87.890625, 88.06640625, 79.453125, 28.916015625, 11.372179985046387 ]
[ -36.123046875, 89.12109375, 88.681640625, 80.15625, 27.158203125, 11.129568099975586 ]
3.233333
97
0
97
0
[ -36.298828125, 86.396484375, 86.66015625, 79.62890625, 30.05859375, 11.27819538116455 ]
[ -36.123046875, 88.505859375, 88.681640625, 79.8046875, 27.421875, 11.04651165008545 ]
3.266667
98
0
98
0
[ -36.650390625, 82.353515625, 82.177734375, 82.705078125, 30.234375, 11.560150146484375 ]
[ -36.123046875, 87.36328125, 88.505859375, 79.62890625, 27.94921875, 11.04651165008545 ]
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": 100,
    "total_frames": 29591,
    "total_tasks": 1,
    "total_videos": 200,
    "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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        "observation.state": {
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                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
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        "frame_index": {
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    }
}

Citation

BibTeX:

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License:
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