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wcode
/
so100_put_pen_50

Tasks:
Robotics
Modalities:
Tabular
Time-series
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Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
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float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
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0
[ 1.7578125, 167.431640625, 158.291015625, 60.1171875, -3.076171875, 0.09930486232042313 ]
[ 0.3515625, 173.935546875, 165.498046875, 61.435546875, -2.548828125, 0.5567153692245483 ]
2.84
71
0
71
0
[ 2.109375, 164.00390625, 155.830078125, 60.29296875, -3.076171875, 0.09930486232042313 ]
[ 0.703125, 171.2109375, 163.916015625, 61.083984375, -2.548828125, 0.5567153692245483 ]
2.88
72
0
72
0
[ 2.8125, 160.400390625, 153.017578125, 60.556640625, -3.076171875, 0.09930486232042313 ]
[ 0.966796875, 169.27734375, 162.158203125, 60.908203125, -2.548828125, 0.5567153692245483 ]
2.92
73
0
73
0
[ 3.779296875, 157.236328125, 150.380859375, 61.083984375, -3.076171875, 0.09930486232042313 ]
[ 1.318359375, 166.640625, 159.873046875, 60.908203125, -2.548828125, 0.5567153692245483 ]
2.96
74
0
74
0
[ 4.74609375, 154.072265625, 147.568359375, 61.69921875, -3.076171875, 0.09930486232042313 ]
[ 1.93359375, 163.30078125, 157.32421875, 60.908203125, -2.548828125, 0.5567153692245483 ]
3
75
0
75
0
[ 5.712890625, 151.083984375, 144.404296875, 62.40234375, -3.076171875, 0.09930486232042313 ]
[ 2.724609375, 159.9609375, 154.86328125, 60.908203125, -2.548828125, 0.5567153692245483 ]
3.04
76
0
76
0
[ 6.591796875, 148.18359375, 141.064453125, 63.369140625, -3.076171875, 0.09930486232042313 ]
[ 3.69140625, 156.97265625, 152.138671875, 60.99609375, -2.548828125, 0.5567153692245483 ]
3.08
77
0
77
0
[ 7.294921875, 145.458984375, 137.28515625, 64.775390625, -3.251953125, 0.09930486232042313 ]
[ 4.482421875, 153.720703125, 149.150390625, 61.611328125, -2.548828125, 0.5567153692245483 ]
3.12
78
0
78
0
[ 7.734375, 142.55859375, 133.59375, 66.09375, -3.955078125, 0.09930486232042313 ]
[ 5.537109375, 150.64453125, 146.25, 62.40234375, -2.548828125, 0.5567153692245483 ]
3.16
79
0
79
0
[ 7.998046875, 139.833984375, 129.990234375, 67.587890625, -5.185546875, 0.09930486232042313 ]
[ 6.50390625, 147.65625, 142.998046875, 63.28125, -2.548828125, 0.5567153692245483 ]
3.2
80
0
80
0
[ 8.26171875, 137.109375, 126.2109375, 69.169921875, -6.328125, 0.09930486232042313 ]
[ 6.6796875, 144.580078125, 139.306640625, 64.6875, -2.63671875, 0.5567153692245483 ]
3.24
81
0
81
0
[ 8.349609375, 134.296875, 122.607421875, 71.015625, -8.26171875, 0.09930486232042313 ]
[ 6.591796875, 141.591796875, 135.615234375, 66.005859375, -3.779296875, 0.5567153692245483 ]
3.28
82
0
82
0
[ 8.4375, 131.484375, 118.828125, 73.037109375, -10.986328125, 0.09930486232042313 ]
[ 7.20703125, 138.8671875, 131.923828125, 67.587890625, -4.833984375, 0.5567153692245483 ]
3.32
83
0
83
0
[ 8.4375, 128.583984375, 115.048828125, 75.234375, -13.095703125, 0.09930486232042313 ]
[ 7.822265625, 136.318359375, 128.232421875, 69.43359375, -6.328125, 0.5567153692245483 ]
3.36
84
0
84
0
[ 8.4375, 125.595703125, 111.357421875, 77.51953125, -15.732421875, 0.09930486232042313 ]
[ 7.91015625, 133.41796875, 124.541015625, 71.3671875, -8.26171875, 0.5567153692245483 ]
3.4
85
0
85
0
[ 8.4375, 122.431640625, 107.841796875, 79.1015625, -17.138671875, 0.09930486232042313 ]
[ 7.734375, 130.4296875, 120.9375, 73.388671875, -10.37109375, 0.5567153692245483 ]
3.44
86
0
86
0
[ 8.4375, 119.443359375, 104.853515625, 79.716796875, -18.6328125, 0.09930486232042313 ]
[ 7.55859375, 127.353515625, 117.24609375, 75.322265625, -12.65625, 0.5567153692245483 ]
3.48
87
0
87
0
[ 8.4375, 116.3671875, 101.953125, 80.33203125, -20.56640625, 0.09930486232042313 ]
[ 7.55859375, 124.27734375, 113.466796875, 77.080078125, -14.765625, 0.5567153692245483 ]
3.52
88
0
88
0
[ 8.4375, 113.291015625, 99.052734375, 80.947265625, -22.763671875, 0.09930486232042313 ]
[ 7.734375, 121.2890625, 109.86328125, 78.046875, -16.171875, 0.5567153692245483 ]
3.56
89
0
89
0
[ 8.4375, 110.21484375, 96.240234375, 81.5625, -25.400390625, 0.09930486232042313 ]
[ 7.91015625, 118.125, 106.611328125, 79.013671875, -18.017578125, 0.5567153692245483 ]
3.6
90
0
90
0
[ 8.4375, 107.05078125, 93.251953125, 82.353515625, -27.333984375, 0.19860972464084625 ]
[ 7.91015625, 115.224609375, 103.7109375, 79.541015625, -19.951171875, 0.5567153692245483 ]
3.64
91
0
91
0
[ 8.173828125, 103.798828125, 90.263671875, 83.3203125, -28.740234375, 0.19860972464084625 ]
[ 7.91015625, 112.1484375, 100.986328125, 80.33203125, -22.32421875, 0.5567153692245483 ]
3.68
92
0
92
0
[ 8.0859375, 100.37109375, 87.099609375, 84.375, -29.8828125, 0.19860972464084625 ]
[ 7.91015625, 108.984375, 98.0859375, 81.2109375, -24.609375, 0.5567153692245483 ]
3.72
93
0
93
0
[ 8.0859375, 96.85546875, 83.759765625, 85.693359375, -32.34375, 0.19860972464084625 ]
[ 7.91015625, 105.64453125, 95.09765625, 82.177734375, -26.19140625, 0.5567153692245483 ]
3.76
94
0
94
0
[ 8.0859375, 93.33984375, 80.5078125, 86.8359375, -34.541015625, 0.19860972464084625 ]
[ 7.91015625, 102.12890625, 92.109375, 83.14453125, -27.509765625, 0.5567153692245483 ]
3.8
95
0
95
0
[ 8.0859375, 90.17578125, 77.783203125, 87.36328125, -37.177734375, 0.19860972464084625 ]
[ 7.91015625, 98.61328125, 88.9453125, 84.19921875, -29.443359375, 0.5567153692245483 ]
3.84
96
0
96
0
[ 8.0859375, 87.626953125, 75.498046875, 87.36328125, -38.583984375, 0.19860972464084625 ]
[ 7.91015625, 95.09765625, 85.517578125, 85.078125, -31.728515625, 0.5567153692245483 ]
3.88
97
0
97
0
[ 8.26171875, 85.166015625, 73.125, 87.451171875, -40.078125, 0.19860972464084625 ]
[ 7.91015625, 91.845703125, 82.353515625, 85.869140625, -34.189453125, 0.5567153692245483 ]
3.92
98
0
98
0
[ 8.4375, 82.705078125, 70.48828125, 87.890625, -42.978515625, 0.19860972464084625 ]
[ 7.91015625, 88.681640625, 79.62890625, 86.30859375, -36.03515625, 0.5567153692245483 ]
3.96
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": 37449,
    "total_tasks": 1,
    "total_videos": 100,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 25,
    "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": [
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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": [
                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",
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            "info": {
                "video.fps": 25.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
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        },
        "observation.images.top": {
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            "shape": [
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                640,
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            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 25.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "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": {
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                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
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            "names": null
        }
    }
}

Citation

BibTeX:

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Downloads last month
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License:
apache-2.0
Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
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Number of rows:
37,449