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Datasets:
gxy1111
/
so100_pen3

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
Libraries:
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Dask
License:
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action
sequence
observation.state
sequence
timestamp
float32
0
7.97
frame_index
int64
0
239
episode_index
int64
0
29
index
int64
0
5.21k
task_index
int64
0
0
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71
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[ -2.109375, 192.3046875, 180, 73.30078125, -81.826171875, 2.488888740539551 ]
[ -2.98828125, 192.392578125, 177.978515625, 73.916015625, -79.1015625, 0.9681881666183472 ]
2.4
72
0
72
0
[ -2.109375, 192.3046875, 180, 73.30078125, -82.353515625, 0.08888889104127884 ]
[ -2.548828125, 192.3046875, 177.978515625, 73.916015625, -79.98046875, 1.7289074659347534 ]
2.433333
73
0
73
0
[ -2.109375, 192.3046875, 180, 73.30078125, -82.44140625, 0.08888889104127884 ]
[ -2.4609375, 192.3046875, 177.978515625, 73.916015625, -80.595703125, 1.7980637550354004 ]
2.466667
74
0
74
0
[ -2.021484375, 192.3046875, 180, 73.30078125, -82.44140625, 0.08888889104127884 ]
[ -2.63671875, 192.3046875, 177.978515625, 73.916015625, -81.03515625, 1.1065007448196411 ]
2.5
75
0
75
0
[ -1.845703125, 192.3046875, 180, 73.30078125, -81.73828125, 0.08888889104127884 ]
[ -2.63671875, 192.3046875, 177.978515625, 73.916015625, -81.298828125, 0.6915629506111145 ]
2.533333
76
0
76
0
[ -1.845703125, 192.3046875, 180, 73.212890625, -80.5078125, 0.08888889104127884 ]
[ -2.4609375, 192.3046875, 177.978515625, 73.916015625, -81.298828125, 0.6915629506111145 ]
2.566667
77
0
77
0
[ -2.109375, 192.041015625, 180, 73.037109375, -80.15625, 0.08888889104127884 ]
[ -2.4609375, 192.392578125, 177.978515625, 73.916015625, -81.298828125, 0.6224066615104675 ]
2.6
78
0
78
0
[ -2.109375, 191.953125, 180, 72.861328125, -80.244140625, 0.08888889104127884 ]
[ -2.4609375, 192.392578125, 177.978515625, 73.916015625, -81.2109375, 0.6224066615104675 ]
2.633333
79
0
79
0
[ -2.109375, 191.42578125, 179.82421875, 72.421875, -79.98046875, 0.08888889104127884 ]
[ -2.4609375, 192.3046875, 177.978515625, 73.916015625, -81.03515625, 0.6224066615104675 ]
2.666667
80
0
80
0
[ -2.109375, 190.283203125, 179.12109375, 71.806640625, -79.541015625, 0.08888889104127884 ]
[ -2.4609375, 192.12890625, 177.978515625, 73.916015625, -81.03515625, 0.6224066615104675 ]
2.7
81
0
81
0
[ -2.197265625, 188.7890625, 178.06640625, 71.015625, -78.310546875, 0 ]
[ -2.4609375, 191.513671875, 177.978515625, 73.65234375, -80.859375, 0.6224066615104675 ]
2.733333
82
0
82
0
[ -2.4609375, 187.119140625, 176.396484375, 70.224609375, -76.81640625, 0 ]
[ -2.548828125, 190.458984375, 177.802734375, 73.4765625, -80.33203125, 0.6224066615104675 ]
2.766667
83
0
83
0
[ -2.98828125, 185.2734375, 174.55078125, 69.521484375, -75.146484375, 0 ]
[ -2.548828125, 189.228515625, 177.36328125, 72.861328125, -79.365234375, 0.6224066615104675 ]
2.8
84
0
84
0
[ -3.515625, 183.251953125, 172.44140625, 68.73046875, -73.65234375, 0 ]
[ -2.548828125, 187.91015625, 176.923828125, 72.24609375, -78.22265625, 0.6224066615104675 ]
2.833333
85
0
85
0
[ -3.8671875, 181.0546875, 170.419921875, 67.763671875, -72.24609375, 0 ]
[ -2.548828125, 186.064453125, 175.25390625, 71.54296875, -76.640625, 0.6224066615104675 ]
2.866667
86
0
86
0
[ -4.04296875, 178.857421875, 168.134765625, 66.884765625, -71.015625, 0 ]
[ -2.724609375, 183.8671875, 173.408203125, 70.83984375, -75.234375, 0.6224066615104675 ]
2.9
87
0
87
0
[ -4.130859375, 176.8359375, 165.9375, 66.09375, -69.345703125, 0 ]
[ -3.1640625, 182.4609375, 171.9140625, 69.873046875, -73.916015625, 0.6224066615104675 ]
2.933333
88
0
88
0
[ -4.21875, 174.55078125, 163.828125, 65.302734375, -67.5, 0 ]
[ -3.515625, 180.17578125, 170.595703125, 69.08203125, -72.509765625, 0.6224066615104675 ]
2.966667
89
0
89
0
[ -4.21875, 172.265625, 161.71875, 64.51171875, -65.654296875, 0 ]
[ -3.515625, 177.451171875, 168.837890625, 68.291015625, -70.927734375, 0.6224066615104675 ]
3
90
0
90
0
[ -4.21875, 169.8046875, 159.697265625, 63.80859375, -64.072265625, 0 ]
[ -3.427734375, 175.869140625, 167.080078125, 67.5, -69.2578125, 0.6224066615104675 ]
3.033333
91
0
91
0
[ -4.04296875, 167.16796875, 157.67578125, 62.9296875, -61.69921875, 0 ]
[ -3.251953125, 173.759765625, 165.05859375, 66.708984375, -67.5, 0.6224066615104675 ]
3.066667
92
0
92
0
[ -3.8671875, 164.091796875, 155.654296875, 62.138671875, -58.623046875, 0 ]
[ -3.251953125, 171.38671875, 163.212890625, 66.005859375, -65.654296875, 0.6224066615104675 ]
3.1
93
0
93
0
[ -3.8671875, 161.015625, 153.45703125, 61.69921875, -55.8984375, 0 ]
[ -3.251953125, 168.22265625, 161.103515625, 65.126953125, -63.45703125, 0.6224066615104675 ]
3.133333
94
0
94
0
[ -4.04296875, 158.02734375, 151.435546875, 61.435546875, -53.0859375, 0 ]
[ -3.251953125, 165.5859375, 159.169921875, 64.3359375, -60.908203125, 0.6224066615104675 ]
3.166667
95
0
95
0
[ -4.306640625, 154.86328125, 149.23828125, 61.435546875, -50.009765625, 0 ]
[ -3.251953125, 162.59765625, 157.060546875, 63.720703125, -58.359375, 0.6224066615104675 ]
3.2
96
0
96
0
[ -4.658203125, 151.69921875, 147.041015625, 61.435546875, -46.58203125, 0 ]
[ -3.251953125, 159.873046875, 154.86328125, 63.28125, -55.546875, 0.6224066615104675 ]
3.233333
97
0
97
0
[ -4.833984375, 148.53515625, 144.66796875, 61.435546875, -42.890625, 0 ]
[ -3.33984375, 156.796875, 152.841796875, 63.017578125, -52.646484375, 0.6224066615104675 ]
3.266667
98
0
98
0
[ -5.009765625, 145.1953125, 142.294921875, 61.435546875, -39.287109375, 0 ]
[ -3.69140625, 153.6328125, 150.64453125, 63.017578125, -49.39453125, 0.6224066615104675 ]
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": 30,
    "total_frames": 5208,
    "total_tasks": 1,
    "total_videos": 60,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:30"
    },
    "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.eye": {
            "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
            }
        },
        "observation.images.wrist": {
            "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": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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