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Datasets:
youliangtan
/
so101-pen-to-holder

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
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Dask
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action
sequence
observation.state
sequence
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
[ 11.162109375, 187.294921875, 170.771484375, 64.248046875, -2.63671875, 0.08403361588716507 ]
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2.266667
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2.3
69
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0
[ 20.91796875, 118.388671875, 135.966796875, 59.94140625, 63.6328125, 14.117648124694824 ]
[ 23.73046875, 120.234375, 138.69140625, 61.875, 62.05078125, 13.841808319091797 ]
2.466667
74
0
74
0
[ 20.302734375, 117.861328125, 135.966796875, 59.4140625, 63.6328125, 14.117648124694824 ]
[ 23.291015625, 119.443359375, 138.69140625, 61.171875, 62.578125, 13.841808319091797 ]
2.5
75
0
75
0
[ 19.775390625, 117.421875, 135.966796875, 58.53515625, 63.6328125, 14.117648124694824 ]
[ 22.32421875, 118.65234375, 138.69140625, 60.8203125, 62.9296875, 13.841808319091797 ]
2.533333
76
0
76
0
[ 19.423828125, 117.0703125, 136.23046875, 57.48046875, 63.6328125, 14.117648124694824 ]
[ 21.09375, 118.037109375, 138.69140625, 60.205078125, 63.017578125, 13.841808319091797 ]
2.566667
77
0
77
0
[ 19.3359375, 116.630859375, 136.494140625, 56.25, 63.6328125, 14.117648124694824 ]
[ 20.126953125, 117.421875, 138.69140625, 59.4140625, 63.10546875, 13.841808319091797 ]
2.6
78
0
78
0
[ 19.3359375, 116.19140625, 136.669921875, 55.1953125, 63.6328125, 14.117648124694824 ]
[ 19.775390625, 116.982421875, 138.69140625, 58.53515625, 63.193359375, 13.841808319091797 ]
2.633333
79
0
79
0
[ 19.3359375, 115.83984375, 136.669921875, 54.31640625, 63.45703125, 14.117648124694824 ]
[ 19.951171875, 116.54296875, 138.69140625, 57.568359375, 63.193359375, 13.841808319091797 ]
2.666667
80
0
80
0
[ 19.423828125, 115.48828125, 136.669921875, 53.61328125, 63.28125, 14.117648124694824 ]
[ 20.21484375, 116.103515625, 138.69140625, 56.6015625, 63.193359375, 13.841808319091797 ]
2.7
81
0
81
0
[ 19.51171875, 115.13671875, 136.7578125, 52.91015625, 63.10546875, 14.117648124694824 ]
[ 20.21484375, 115.6640625, 138.69140625, 55.72265625, 63.193359375, 13.841808319091797 ]
2.733333
82
0
82
0
[ 19.6875, 114.609375, 136.7578125, 52.294921875, 63.10546875, 14.117648124694824 ]
[ 19.6875, 115.48828125, 138.69140625, 54.84375, 63.193359375, 13.841808319091797 ]
2.766667
83
0
83
0
[ 19.775390625, 113.90625, 136.7578125, 51.767578125, 63.10546875, 14.117648124694824 ]
[ 19.16015625, 115.13671875, 138.69140625, 54.140625, 63.193359375, 13.841808319091797 ]
2.8
84
0
84
0
[ 20.0390625, 113.02734375, 136.7578125, 51.328125, 63.10546875, 14.117648124694824 ]
[ 19.248046875, 114.521484375, 138.69140625, 53.26171875, 63.193359375, 13.841808319091797 ]
2.833333
85
0
85
0
[ 20.478515625, 112.060546875, 136.7578125, 50.712890625, 63.017578125, 14.117648124694824 ]
[ 19.423828125, 113.90625, 138.69140625, 52.822265625, 63.193359375, 13.841808319091797 ]
2.866667
86
0
86
0
[ 20.7421875, 110.91796875, 136.7578125, 50.185546875, 63.017578125, 14.117648124694824 ]
[ 19.951171875, 113.115234375, 138.69140625, 52.20703125, 63.193359375, 13.841808319091797 ]
2.9
87
0
87
0
[ 21.005859375, 109.775390625, 136.7578125, 49.74609375, 63.017578125, 14.033614158630371 ]
[ 20.302734375, 112.1484375, 138.69140625, 51.591796875, 63.193359375, 13.841808319091797 ]
2.933333
88
0
88
0
[ 21.181640625, 108.720703125, 136.669921875, 49.39453125, 63.017578125, 14.033614158630371 ]
[ 20.478515625, 111.26953125, 138.69140625, 51.15234375, 63.193359375, 13.841808319091797 ]
2.966667
89
0
89
0
[ 21.181640625, 107.75390625, 136.58203125, 49.39453125, 63.017578125, 14.033614158630371 ]
[ 20.478515625, 110.21484375, 138.69140625, 50.537109375, 63.193359375, 13.841808319091797 ]
3
90
0
90
0
[ 21.26953125, 106.875, 136.40625, 49.39453125, 63.017578125, 14.033614158630371 ]
[ 20.478515625, 109.16015625, 138.69140625, 50.185546875, 63.193359375, 13.841808319091797 ]
3.033333
91
0
91
0
[ 21.26953125, 106.083984375, 136.142578125, 49.39453125, 63.017578125, 14.033614158630371 ]
[ 20.56640625, 108.193359375, 138.603515625, 50.009765625, 63.193359375, 13.841808319091797 ]
3.066667
92
0
92
0
[ 21.26953125, 105.29296875, 136.0546875, 49.39453125, 63.017578125, 13.949580192565918 ]
[ 20.7421875, 107.490234375, 138.251953125, 49.921875, 63.193359375, 13.841808319091797 ]
3.1
93
0
93
0
[ 21.26953125, 104.58984375, 135.966796875, 49.39453125, 63.017578125, 13.865547180175781 ]
[ 20.91796875, 106.787109375, 137.724609375, 49.833984375, 63.193359375, 13.841808319091797 ]
3.133333
94
0
94
0
[ 21.26953125, 104.0625, 135.966796875, 49.39453125, 63.017578125, 13.697479248046875 ]
[ 21.005859375, 106.083984375, 137.28515625, 49.74609375, 63.193359375, 13.841808319091797 ]
3.166667
95
0
95
0
[ 21.26953125, 103.623046875, 135.87890625, 49.39453125, 63.017578125, 13.613446235656738 ]
[ 21.005859375, 105.732421875, 137.021484375, 49.74609375, 63.193359375, 13.841808319091797 ]
3.2
96
0
96
0
[ 21.357421875, 103.447265625, 135.791015625, 49.39453125, 63.017578125, 13.529412269592285 ]
[ 21.005859375, 105.46875, 136.845703125, 49.74609375, 63.193359375, 13.841808319091797 ]
3.233333
97
0
97
0
[ 21.4453125, 103.271484375, 135.791015625, 49.39453125, 63.017578125, 13.529412269592285 ]
[ 21.005859375, 104.853515625, 136.58203125, 49.74609375, 63.193359375, 13.841808319091797 ]
3.266667
98
0
98
0
[ 21.884765625, 103.095703125, 135.791015625, 49.39453125, 63.017578125, 13.445379257202148 ]
[ 21.005859375, 104.4140625, 136.23046875, 49.74609375, 63.193359375, 13.841808319091797 ]
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": 2,
    "total_frames": 1779,
    "total_tasks": 1,
    "total_videos": 4,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "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.wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
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            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.global": {
            "dtype": "video",
            "shape": [
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                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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                1
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            "names": null
        },
        "episode_index": {
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            ],
            "names": null
        },
        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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