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julyfun
/
so100_pick_and_place_v4_50

Tasks:
Robotics
Modalities:
Tabular
Time-series
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Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
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action
sequence
observation.state
sequence
timestamp
float32
0
15.1
frame_index
int64
0
452
episode_index
int64
0
49
index
int64
0
13.6k
task_index
int64
0
0
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[ 7.998046875, 135.966796875, 113.90625, 104.326171875, -82.880859375, -2.3809523582458496 ]
2.4
72
0
72
0
[ 10.72265625, 136.58203125, 112.67578125, 104.501953125, -84.19921875, -5.069124221801758 ]
[ 8.349609375, 136.0546875, 113.90625, 104.326171875, -83.056640625, -2.3809523582458496 ]
2.433333
73
0
73
0
[ 11.6015625, 136.318359375, 112.412109375, 104.501953125, -84.111328125, -5.069124221801758 ]
[ 8.96484375, 136.0546875, 113.90625, 104.326171875, -83.3203125, -2.3809523582458496 ]
2.466667
74
0
74
0
[ 12.568359375, 136.142578125, 112.236328125, 104.501953125, -84.111328125, -5.069124221801758 ]
[ 9.66796875, 136.0546875, 113.90625, 104.326171875, -83.3203125, -2.3809523582458496 ]
2.5
75
0
75
0
[ 13.623046875, 136.0546875, 112.1484375, 104.501953125, -84.19921875, -5.069124221801758 ]
[ 10.634765625, 136.0546875, 113.90625, 104.326171875, -83.3203125, -2.3809523582458496 ]
2.533333
76
0
76
0
[ 14.765625, 136.0546875, 112.1484375, 104.501953125, -84.638671875, -5.069124221801758 ]
[ 11.513671875, 136.0546875, 113.90625, 104.326171875, -83.3203125, -2.3809523582458496 ]
2.566667
77
0
77
0
[ 15.908203125, 136.0546875, 112.1484375, 104.501953125, -85.341796875, -5.069124221801758 ]
[ 12.392578125, 136.0546875, 113.90625, 104.326171875, -83.3203125, -2.3809523582458496 ]
2.6
78
0
78
0
[ 16.962890625, 136.142578125, 112.1484375, 104.501953125, -86.044921875, -5.069124221801758 ]
[ 13.447265625, 136.0546875, 113.90625, 104.326171875, -83.671875, -2.3809523582458496 ]
2.633333
79
0
79
0
[ 17.9296875, 136.142578125, 112.1484375, 104.501953125, -86.748046875, -5.069124221801758 ]
[ 14.501953125, 136.0546875, 113.90625, 104.326171875, -84.19921875, -2.3809523582458496 ]
2.666667
80
0
80
0
[ 18.80859375, 136.142578125, 112.1484375, 104.501953125, -87.451171875, -5.069124221801758 ]
[ 15.8203125, 136.0546875, 113.90625, 104.326171875, -84.814453125, -2.3809523582458496 ]
2.7
81
0
81
0
[ 19.51171875, 136.142578125, 112.060546875, 104.4140625, -87.978515625, -5.069124221801758 ]
[ 16.875, 136.0546875, 113.90625, 104.326171875, -85.4296875, -2.3809523582458496 ]
2.733333
82
0
82
0
[ 20.0390625, 136.0546875, 111.97265625, 104.4140625, -88.505859375, -5.069124221801758 ]
[ 17.841796875, 136.0546875, 113.90625, 104.326171875, -86.1328125, -2.3809523582458496 ]
2.766667
83
0
83
0
[ 20.478515625, 135.87890625, 111.884765625, 104.326171875, -88.857421875, -5.069124221801758 ]
[ 18.544921875, 136.0546875, 113.90625, 104.326171875, -86.748046875, -2.3809523582458496 ]
2.8
84
0
84
0
[ 20.91796875, 135.615234375, 111.708984375, 104.326171875, -89.208984375, -5.069124221801758 ]
[ 19.072265625, 136.0546875, 113.90625, 104.326171875, -87.275390625, -2.3809523582458496 ]
2.833333
85
0
85
0
[ 21.09375, 135.52734375, 111.708984375, 104.23828125, -89.560546875, -5.069124221801758 ]
[ 19.51171875, 136.0546875, 113.90625, 104.326171875, -87.71484375, -2.3809523582458496 ]
2.866667
86
0
86
0
[ 21.181640625, 135.3515625, 111.708984375, 104.23828125, -89.736328125, -5.069124221801758 ]
[ 20.0390625, 135.791015625, 113.90625, 104.326171875, -88.154296875, -2.3809523582458496 ]
2.9
87
0
87
0
[ 21.181640625, 135.263671875, 111.708984375, 104.23828125, -89.912109375, -5.069124221801758 ]
[ 20.390625, 135.703125, 113.90625, 104.326171875, -88.59375, -2.3809523582458496 ]
2.933333
88
0
88
0
[ 21.181640625, 135.17578125, 111.708984375, 104.150390625, -90, -5.069124221801758 ]
[ 20.830078125, 135.52734375, 113.90625, 104.326171875, -88.76953125, -2.3809523582458496 ]
2.966667
89
0
89
0
[ 21.181640625, 135.087890625, 111.708984375, 104.150390625, -90.087890625, -5.069124221801758 ]
[ 21.005859375, 135.439453125, 113.90625, 104.326171875, -89.033203125, -2.3809523582458496 ]
3
90
0
90
0
[ 21.09375, 135, 111.796875, 104.150390625, -90.263671875, -5.069124221801758 ]
[ 21.005859375, 135.263671875, 113.90625, 104.326171875, -89.208984375, -2.3809523582458496 ]
3.033333
91
0
91
0
[ 20.91796875, 135, 111.796875, 104.150390625, -90.3515625, -5.069124221801758 ]
[ 21.005859375, 135.17578125, 113.90625, 104.326171875, -89.296875, -2.3809523582458496 ]
3.066667
92
0
92
0
[ 20.830078125, 135, 111.884765625, 104.0625, -90.615234375, -5.069124221801758 ]
[ 20.91796875, 135.17578125, 113.90625, 104.326171875, -89.47265625, -2.3809523582458496 ]
3.1
93
0
93
0
[ 20.830078125, 135, 111.884765625, 104.0625, -91.0546875, -5.069124221801758 ]
[ 20.91796875, 135.17578125, 113.90625, 104.326171875, -89.560546875, -2.3809523582458496 ]
3.133333
94
0
94
0
[ 20.830078125, 135, 111.97265625, 104.0625, -91.58203125, -5.069124221801758 ]
[ 20.91796875, 135.17578125, 113.90625, 104.326171875, -89.82421875, -2.3809523582458496 ]
3.166667
95
0
95
0
[ 20.830078125, 135, 112.236328125, 104.0625, -92.373046875, -4.838709354400635 ]
[ 20.91796875, 135.17578125, 113.90625, 104.326171875, -90.17578125, -2.3809523582458496 ]
3.2
96
0
96
0
[ 20.830078125, 134.912109375, 112.412109375, 103.974609375, -92.900390625, -4.2626729011535645 ]
[ 21.005859375, 135.17578125, 113.90625, 104.326171875, -90.52734375, -2.3809523582458496 ]
3.233333
97
0
97
0
[ 20.830078125, 134.82421875, 112.587890625, 103.88671875, -93.69140625, -3.22580623626709 ]
[ 21.005859375, 135.17578125, 113.90625, 104.326171875, -91.142578125, -2.3809523582458496 ]
3.266667
98
0
98
0
[ 20.830078125, 134.82421875, 112.939453125, 103.7109375, -94.482421875, -1.7281105518341064 ]
[ 21.005859375, 135.17578125, 113.90625, 104.326171875, -91.7578125, -2.3809523582458496 ]
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": 13638,
    "total_tasks": 1,
    "total_videos": 50,
    "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": [
                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.hand": {
            "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
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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