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Datasets:
masato-ka
/
so100_grasp_xy_cod

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
Libraries:
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Dask
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action
sequence
observation.state
sequence
timestamp
float32
0
19.9
frame_index
int64
0
597
episode_index
int64
0
29
index
int64
0
17.9k
task_index
int64
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[ -5.09765625, 189.140625, 179.6484375, 37.96875, -0.791015625, -0.09633911401033401 ]
[ -5.44921875, 188.61328125, 180.17578125, 37.880859375, -0.791015625, 0.7054673433303833, 364, 289 ]
2.366667
71
0
71
0
[ -5.09765625, 189.140625, 179.6484375, 37.96875, -0.87890625, -0.09633911401033401 ]
[ -5.361328125, 188.61328125, 180.17578125, 37.880859375, -0.791015625, 0.7054673433303833, 364, 289 ]
2.4
72
0
72
0
[ -5.09765625, 189.140625, 179.6484375, 37.96875, -1.142578125, -0.09633911401033401 ]
[ -5.361328125, 188.61328125, 180.17578125, 37.880859375, -0.791015625, 0.7054673433303833, 364, 289 ]
2.433333
73
0
73
0
[ -5.09765625, 189.140625, 179.6484375, 37.96875, -1.40625, -0.09633911401033401 ]
[ -5.361328125, 188.61328125, 180.17578125, 37.880859375, -0.791015625, 0.7054673433303833, 364, 289 ]
2.466667
74
0
74
0
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[ -5.361328125, 188.61328125, 180.17578125, 37.880859375, -0.87890625, 0.7054673433303833, 364, 289 ]
2.5
75
0
75
0
[ -5.09765625, 189.140625, 179.6484375, 37.96875, -2.021484375, -0.19267822802066803 ]
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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
[ -5.712890625, 182.8125, 172.529296875, 38.583984375, 0.791015625, -0.28901731967926025 ]
[ -5.361328125, 188.61328125, 180.087890625, 37.880859375, -1.669921875, 0.7054673433303833, 364, 289 ]
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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[ -5.361328125, 183.603515625, 176.1328125, 38.935546875, 0.791015625, 0.7054673433303833, 364, 289 ]
2.8
84
0
84
0
[ -5.009765625, 167.783203125, 156.796875, 41.748046875, 7.119140625, -0.28901731967926025 ]
[ -5.44921875, 180.87890625, 173.671875, 39.7265625, 2.021484375, 0.7054673433303833, 364, 289 ]
2.833333
85
0
85
0
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2.866667
86
0
86
0
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[ -5.361328125, 174.375, 167.255859375, 41.1328125, 4.74609375, 0.7054673433303833, 364, 289 ]
2.9
87
0
87
0
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[ -4.921875, 170.595703125, 163.564453125, 42.01171875, 6.328125, 0.7054673433303833, 364, 289 ]
2.933333
88
0
88
0
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[ -4.39453125, 166.640625, 159.697265625, 42.978515625, 7.998046875, 0.7054673433303833, 364, 289 ]
2.966667
89
0
89
0
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[ -3.779296875, 162.94921875, 155.654296875, 44.033203125, 9.755859375, 0.7054673433303833, 364, 289 ]
3
90
0
90
0
[ 0, 142.55859375, 130.95703125, 48.515625, 17.75390625, -0.28901731967926025 ]
[ -3.076171875, 159.08203125, 151.611328125, 45, 11.162109375, 0.7054673433303833, 364, 289 ]
3.033333
91
0
91
0
[ 0.703125, 138.69140625, 127.44140625, 49.5703125, 20.478515625, -0.28901731967926025 ]
[ -2.28515625, 155.0390625, 147.216796875, 45.966796875, 12.568359375, 0.7054673433303833, 364, 289 ]
3.066667
92
0
92
0
[ 1.318359375, 135.439453125, 124.541015625, 50.537109375, 23.37890625, -0.28901731967926025 ]
[ -1.40625, 150.8203125, 142.998046875, 47.109375, 14.501953125, 0.7054673433303833, 364, 289 ]
3.1
93
0
93
0
[ 2.28515625, 132.275390625, 121.9921875, 51.50390625, 27.0703125, -0.28901731967926025 ]
[ -0.52734375, 146.42578125, 138.515625, 48.33984375, 16.875, 0.7054673433303833, 364, 289 ]
3.133333
94
0
94
0
[ 2.724609375, 129.462890625, 119.53125, 52.294921875, 28.916015625, -0.28901731967926025 ]
[ 0.17578125, 142.55859375, 134.82421875, 49.306640625, 19.248046875, 0.7054673433303833, 364, 289 ]
3.166667
95
0
95
0
[ 3.1640625, 126.298828125, 116.630859375, 53.96484375, 31.904296875, -0.28901731967926025 ]
[ 0.966796875, 138.69140625, 131.396484375, 50.2734375, 21.796875, 0.7054673433303833, 364, 289 ]
3.2
96
0
96
0
[ 3.427734375, 123.134765625, 113.73046875, 55.8984375, 34.98046875, -0.28901731967926025 ]
[ 1.669921875, 135.087890625, 128.056640625, 51.240234375, 24.609375, 0.7054673433303833, 364, 289 ]
3.233333
97
0
97
0
[ 3.515625, 119.970703125, 110.830078125, 57.919921875, 36.298828125, -0.28901731967926025 ]
[ 2.197265625, 131.484375, 125.068359375, 52.294921875, 27.24609375, 0.7054673433303833, 364, 289 ]
3.266667
98
0
98
0
[ 3.251953125, 108.896484375, 101.6015625, 67.5, 41.220703125, -0.28901731967926025 ]
[ 3.1640625, 121.376953125, 116.19140625, 56.953125, 34.541015625, 0.7054673433303833, 364, 289 ]
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": 17885,
    "total_tasks": 1,
    "total_videos": 30,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:30"
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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",
                "target_x",
                "target_y"
            ]
        },
        "observation.images.laptop": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
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            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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            "names": null
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        "episode_index": {
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            "names": null
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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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License:
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Size of downloaded dataset files:
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Number of rows:
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