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Datasets:
apayan
/
so100_plug4

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
1
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action
sequence
observation.state
sequence
timestamp
float32
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29
frame_index
int64
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869
episode_index
int64
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66
index
int64
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58k
task_index
int64
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[ 1.93359375, 185.80078125, 166.552734375, 54.404296875, -1.494140625, 0.7633587718009949 ]
2.433333
73
0
73
0
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[ 1.7578125, 185.9765625, 165.146484375, 55.546875, -1.494140625, 0.7633587718009949 ]
2.466667
74
0
74
0
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2.5
75
0
75
0
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2.533333
76
0
76
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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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[ 3.33984375, 180.439453125, 154.775390625, 63.10546875, -0.966796875, 0.7633587718009949 ]
2.666667
80
0
80
0
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[ 4.39453125, 178.681640625, 152.75390625, 63.80859375, -0.966796875, 0.7633587718009949 ]
2.7
81
0
81
0
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[ 4.921875, 177.36328125, 150.908203125, 64.51171875, -0.966796875, 0.7633587718009949 ]
2.733333
82
0
82
0
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[ 5.361328125, 175.4296875, 148.88671875, 65.126953125, -0.966796875, 0.7633587718009949 ]
2.766667
83
0
83
0
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[ 5.44921875, 173.3203125, 146.865234375, 65.91796875, -0.966796875, 0.7633587718009949 ]
2.8
84
0
84
0
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[ 5.9765625, 171.2109375, 145.01953125, 66.708984375, -0.966796875, 0.7633587718009949 ]
2.833333
85
0
85
0
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[ 6.416015625, 169.189453125, 143.26171875, 67.587890625, -0.966796875, 0.7633587718009949 ]
2.866667
86
0
86
0
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[ 6.767578125, 167.51953125, 141.6796875, 68.203125, -0.966796875, 0.7633587718009949 ]
2.9
87
0
87
0
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2.933333
88
0
88
0
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2.966667
89
0
89
0
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3
90
0
90
0
[ 13.18359375, 158.73046875, 132.5390625, 71.89453125, -0.87890625, 0 ]
[ 9.4921875, 164.00390625, 137.021484375, 70.400390625, -0.966796875, 0.7633587718009949 ]
3.033333
91
0
91
0
[ 14.94140625, 156.708984375, 131.8359375, 72.24609375, -1.0546875, 0 ]
[ 10.37109375, 162.333984375, 136.142578125, 70.927734375, -0.966796875, 0.7633587718009949 ]
3.066667
92
0
92
0
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[ 11.689453125, 160.224609375, 135.3515625, 71.3671875, -0.966796875, 0.7633587718009949 ]
3.1
93
0
93
0
[ 19.248046875, 153.017578125, 130.25390625, 72.421875, -1.142578125, 0 ]
[ 13.18359375, 158.37890625, 134.560546875, 71.71875, -0.966796875, 0.7633587718009949 ]
3.133333
94
0
94
0
[ 21.357421875, 151.34765625, 129.55078125, 72.421875, -1.318359375, 0 ]
[ 14.765625, 156.796875, 133.76953125, 72.0703125, -0.966796875, 0.7633587718009949 ]
3.166667
95
0
95
0
[ 23.37890625, 149.677734375, 128.935546875, 72.421875, -2.109375, 0 ]
[ 16.69921875, 155.390625, 132.890625, 72.0703125, -0.966796875, 0.7633587718009949 ]
3.2
96
0
96
0
[ 25.13671875, 148.271484375, 128.408203125, 72.333984375, -3.076171875, 0 ]
[ 18.80859375, 153.193359375, 132.099609375, 72.0703125, -0.966796875, 0.7633587718009949 ]
3.233333
97
0
97
0
[ 26.71875, 147.3046875, 128.232421875, 72.24609375, -4.21875, 0 ]
[ 20.654296875, 151.34765625, 131.484375, 72.0703125, -1.318359375, 0.7633587718009949 ]
3.266667
98
0
98
0
[ 28.30078125, 146.6015625, 128.14453125, 72.0703125, -5.2734375, 0 ]
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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": 1,
    "total_frames": 859,
    "total_tasks": 1,
    "total_videos": 3,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
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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": {
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            "names": [
                "main_shoulder_pan",
                "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"
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        "observation.images.top": {
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        "observation.images.front": {
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            "names": [
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                "width",
                "channels"
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            "info": {
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        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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