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Datasets:
liyitenga
/
so100_pick_taffy3

Tasks:
Robotics
Tags:
LeRobot
so100
tutorial
License:
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action
sequence
observation.state
sequence
timestamp
float32
0
45.3
frame_index
int64
0
1.36k
episode_index
int64
0
30
index
int64
0
14k
task_index
int64
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71
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[ -4.833984375, 189.052734375, 170.859375, 55.986328125, 6.240234375, 3.801945209503174 ]
[ -3.8671875, 188.26171875, 176.66015625, 54.580078125, 5.09765625, 3.049257278442383 ]
2.4
72
0
72
0
[ -4.658203125, 189.052734375, 170.595703125, 56.513671875, 6.767578125, 3.801945209503174 ]
[ -3.779296875, 188.26171875, 176.66015625, 54.755859375, 5.44921875, 3.049257278442383 ]
2.433333
73
0
73
0
[ -4.833984375, 189.052734375, 170.244140625, 57.216796875, 7.55859375, 3.801945209503174 ]
[ -3.779296875, 188.26171875, 176.484375, 54.931640625, 5.625, 3.049257278442383 ]
2.466667
74
0
74
0
[ -4.658203125, 189.052734375, 169.365234375, 58.271484375, 8.7890625, 3.801945209503174 ]
[ -3.955078125, 188.26171875, 176.1328125, 55.546875, 5.712890625, 3.049257278442383 ]
2.5
75
0
75
0
[ -4.658203125, 189.052734375, 169.013671875, 57.48046875, 9.4921875, 3.801945209503174 ]
[ -4.130859375, 188.26171875, 175.869140625, 56.25, 6.064453125, 3.049257278442383 ]
2.533333
76
0
76
0
[ -4.921875, 189.052734375, 168.57421875, 56.42578125, 9.580078125, 3.801945209503174 ]
[ -4.130859375, 188.26171875, 175.341796875, 57.041015625, 7.119140625, 3.049257278442383 ]
2.566667
77
0
77
0
[ -5.009765625, 189.052734375, 167.607421875, 56.42578125, 10.37109375, 3.801945209503174 ]
[ -3.955078125, 188.26171875, 174.90234375, 57.12890625, 7.822265625, 3.049257278442383 ]
2.6
78
0
78
0
[ -5.09765625, 189.052734375, 166.46484375, 56.953125, 11.42578125, 3.801945209503174 ]
[ -3.8671875, 188.26171875, 174.375, 57.041015625, 8.349609375, 3.049257278442383 ]
2.633333
79
0
79
0
[ -5.537109375, 189.052734375, 165.849609375, 56.953125, 11.953125, 3.801945209503174 ]
[ -3.955078125, 188.26171875, 173.583984375, 57.041015625, 9.052734375, 3.049257278442383 ]
2.666667
80
0
80
0
[ -5.625, 189.052734375, 165.322265625, 56.865234375, 12.568359375, 3.801945209503174 ]
[ -4.306640625, 188.26171875, 172.6171875, 57.041015625, 9.755859375, 3.049257278442383 ]
2.7
81
0
81
0
[ -5.625, 189.052734375, 164.70703125, 57.041015625, 13.271484375, 3.801945209503174 ]
[ -4.5703125, 188.26171875, 171.73828125, 57.041015625, 10.1953125, 3.049257278442383 ]
2.733333
82
0
82
0
[ -5.712890625, 189.052734375, 164.1796875, 57.216796875, 13.7109375, 3.801945209503174 ]
[ -4.833984375, 188.26171875, 170.947265625, 57.041015625, 10.986328125, 3.049257278442383 ]
2.766667
83
0
83
0
[ -5.9765625, 189.052734375, 163.916015625, 57.3046875, 13.798828125, 3.801945209503174 ]
[ -4.921875, 188.26171875, 170.33203125, 57.12890625, 11.77734375, 3.049257278442383 ]
2.8
84
0
84
0
[ -6.15234375, 189.052734375, 163.828125, 57.568359375, 14.0625, 3.801945209503174 ]
[ -4.833984375, 188.26171875, 169.8046875, 57.216796875, 12.12890625, 3.049257278442383 ]
2.833333
85
0
85
0
[ -6.416015625, 189.052734375, 163.916015625, 57.919921875, 14.150390625, 3.801945209503174 ]
[ -4.74609375, 188.26171875, 169.27734375, 57.216796875, 12.48046875, 3.049257278442383 ]
2.866667
86
0
86
0
[ -6.50390625, 189.052734375, 164.35546875, 57.919921875, 14.326171875, 3.801945209503174 ]
[ -4.833984375, 188.26171875, 168.837890625, 57.216796875, 13.095703125, 3.049257278442383 ]
2.9
87
0
87
0
[ -6.50390625, 189.052734375, 165.234375, 57.83203125, 14.58984375, 3.801945209503174 ]
[ -5.2734375, 188.26171875, 168.57421875, 57.216796875, 13.447265625, 3.049257278442383 ]
2.933333
88
0
88
0
[ -6.591796875, 189.052734375, 166.2890625, 57.3046875, 14.677734375, 3.801945209503174 ]
[ -5.888671875, 188.26171875, 168.486328125, 57.216796875, 13.623046875, 3.049257278442383 ]
2.966667
89
0
89
0
[ -6.6796875, 189.052734375, 167.607421875, 56.513671875, 14.677734375, 3.801945209503174 ]
[ -5.9765625, 188.26171875, 168.486328125, 57.216796875, 13.7109375, 3.049257278442383 ]
3
90
0
90
0
[ -6.6796875, 189.052734375, 168.92578125, 55.546875, 14.677734375, 3.801945209503174 ]
[ -5.9765625, 188.26171875, 168.486328125, 57.216796875, 13.798828125, 3.049257278442383 ]
3.033333
91
0
91
0
[ -6.767578125, 189.052734375, 170.068359375, 54.755859375, 14.677734375, 3.801945209503174 ]
[ -5.80078125, 188.26171875, 168.486328125, 57.12890625, 13.798828125, 3.049257278442383 ]
3.066667
92
0
92
0
[ -6.767578125, 189.052734375, 171.123046875, 54.140625, 14.765625, 3.801945209503174 ]
[ -5.712890625, 188.26171875, 168.92578125, 56.689453125, 13.798828125, 3.049257278442383 ]
3.1
93
0
93
0
[ -6.85546875, 189.052734375, 172.177734375, 53.173828125, 14.94140625, 3.801945209503174 ]
[ -5.80078125, 188.26171875, 169.8046875, 56.07421875, 13.798828125, 3.049257278442383 ]
3.133333
94
0
94
0
[ -7.20703125, 189.052734375, 172.880859375, 52.3828125, 14.326171875, 3.801945209503174 ]
[ -5.9765625, 188.26171875, 171.123046875, 55.72265625, 13.798828125, 3.049257278442383 ]
3.166667
95
0
95
0
[ -7.294921875, 189.052734375, 173.408203125, 51.85546875, 13.53515625, 3.801945209503174 ]
[ -6.064453125, 188.26171875, 172.353515625, 55.1953125, 13.798828125, 3.049257278442383 ]
3.2
96
0
96
0
[ -7.294921875, 189.052734375, 173.935546875, 51.15234375, 13.0078125, 3.801945209503174 ]
[ -6.064453125, 188.26171875, 173.14453125, 54.580078125, 13.798828125, 3.049257278442383 ]
3.233333
97
0
97
0
[ -7.294921875, 189.052734375, 173.935546875, 50.9765625, 12.392578125, 3.801945209503174 ]
[ -6.15234375, 188.26171875, 173.671875, 53.7890625, 13.623046875, 3.049257278442383 ]
3.266667
98
0
98
0
[ -7.119140625, 189.052734375, 173.935546875, 50.888671875, 12.12890625, 3.801945209503174 ]
[ -6.591796875, 188.26171875, 174.111328125, 53.26171875, 13.271484375, 3.049257278442383 ]
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": 31,
    "total_frames": 14028,
    "total_tasks": 1,
    "total_videos": 62,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:31"
    },
    "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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            "names": [
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                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.gripper": {
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            "shape": [
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            "info": {
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        "timestamp": {
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            "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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            "names": null
        }
    }
}

Citation

BibTeX:

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