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Datasets:
yuz1wan
/
so100_pickplace_0223_2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
pickplace
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
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action
sequence
observation.state
sequence
timestamp
float32
0
11.3
frame_index
int64
0
340
episode_index
int64
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14
index
int64
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4.06k
task_index
int64
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[ 12.041015625, 124.013671875, 120.05859375, 50.09765625, -20.7421875, 25.088651657104492 ]
[ 11.953125, 125.33203125, 126.73828125, 51.240234375, -19.775390625, 21.400394439697266 ]
2.433333
73
0
73
0
[ 11.865234375, 123.046875, 119.70703125, 50.09765625, -20.7421875, 25.088651657104492 ]
[ 11.865234375, 124.541015625, 125.595703125, 51.240234375, -19.775390625, 22.386587142944336 ]
2.466667
74
0
74
0
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2.5
75
0
75
0
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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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2.633333
79
0
79
0
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2.666667
80
0
80
0
[ 10.01953125, 113.818359375, 114.2578125, 50.09765625, -20.7421875, 31.294326782226562 ]
[ 10.1953125, 116.54296875, 121.11328125, 51.064453125, -19.775390625, 28.205127716064453 ]
2.7
81
0
81
0
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2.733333
82
0
82
0
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2.766667
83
0
83
0
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2.8
84
0
84
0
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2.833333
85
0
85
0
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2.866667
86
0
86
0
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2.9
87
0
87
0
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2.933333
88
0
88
0
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2.966667
89
0
89
0
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[ 8.96484375, 106.787109375, 113.818359375, 51.064453125, -19.775390625, 34.31952667236328 ]
3
90
0
90
0
[ 8.96484375, 105.8203125, 106.962890625, 50.361328125, -20.126953125, 35.283687591552734 ]
[ 8.96484375, 105.908203125, 113.115234375, 51.064453125, -19.775390625, 34.51676559448242 ]
3.033333
91
0
91
0
[ 8.96484375, 105.205078125, 106.34765625, 50.361328125, -20.0390625, 35.283687591552734 ]
[ 8.7890625, 105.29296875, 112.5, 51.064453125, -19.775390625, 34.61538314819336 ]
3.066667
92
0
92
0
[ 8.96484375, 104.501953125, 105.8203125, 50.361328125, -19.951171875, 35.283687591552734 ]
[ 8.701171875, 104.58984375, 111.796875, 51.064453125, -19.775390625, 34.71400451660156 ]
3.1
93
0
93
0
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[ 8.349609375, 104.150390625, 111.181640625, 51.064453125, -19.6875, 34.71400451660156 ]
3.133333
94
0
94
0
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[ 8.173828125, 103.53515625, 110.56640625, 51.064453125, -19.423828125, 34.71400451660156 ]
3.166667
95
0
95
0
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[ 7.998046875, 102.65625, 109.951171875, 51.064453125, -19.248046875, 34.71400451660156 ]
3.2
96
0
96
0
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[ 7.91015625, 102.12890625, 109.248046875, 51.064453125, -19.3359375, 34.71400451660156 ]
3.233333
97
0
97
0
[ 8.525390625, 100.72265625, 102.65625, 50.09765625, -20.126953125, 35.63829803466797 ]
[ 7.998046875, 101.42578125, 108.6328125, 51.064453125, -19.6875, 34.71400451660156 ]
3.266667
98
0
98
0
[ 8.4375, 99.84375, 102.041015625, 50.09765625, -20.21484375, 35.726951599121094 ]
[ 7.998046875, 100.546875, 107.9296875, 51.064453125, -19.775390625, 34.71400451660156 ]
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": "v2.0",
    "robot_type": "so100",
    "total_episodes": 15,
    "total_frames": 4063,
    "total_tasks": 1,
    "total_videos": 15,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:15"
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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": {
        "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": [
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.side": {
            "dtype": "video",
            "shape": [
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                640,
                3
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            "names": [
                "height",
                "width",
                "channels"
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            "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
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
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        "episode_index": {
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        "index": {
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        "task_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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