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Datasets:
odellus
/
so100_grasp

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
Libraries:
Datasets
Dask
License:
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action
sequence
observation.state
sequence
timestamp
float32
0
19.8
frame_index
int64
0
595
episode_index
int64
0
17
index
int64
0
9.17k
task_index
int64
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[ 20.654296875, 124.716796875, 123.662109375, 57.392578125, 2.4609375, 0.461893767118454 ]
[ 16.875, 127.79296875, 126.5625, 57.12890625, 2.4609375, 0.34867504239082336 ]
2.466667
74
0
74
0
[ 21.708984375, 124.1015625, 123.22265625, 57.392578125, 2.4609375, 0.461893767118454 ]
[ 18.193359375, 126.474609375, 126.123046875, 57.12890625, 2.4609375, 0.34867504239082336 ]
2.5
75
0
75
0
[ 22.1484375, 124.013671875, 122.783203125, 57.392578125, 2.4609375, 0.461893767118454 ]
[ 19.951171875, 125.244140625, 125.68359375, 57.12890625, 2.4609375, 0.34867504239082336 ]
2.533333
76
0
76
0
[ 22.060546875, 124.013671875, 122.34375, 57.392578125, 2.373046875, 0.461893767118454 ]
[ 21.09375, 124.716796875, 125.419921875, 57.12890625, 2.4609375, 0.34867504239082336 ]
2.566667
77
0
77
0
[ 21.708984375, 123.92578125, 121.728515625, 57.392578125, 2.28515625, 0.461893767118454 ]
[ 21.357421875, 124.365234375, 124.8046875, 57.12890625, 2.4609375, 0.34867504239082336 ]
2.6
78
0
78
0
[ 21.62109375, 123.92578125, 121.11328125, 57.3046875, 2.28515625, 0.5388760566711426 ]
[ 20.830078125, 124.1015625, 124.27734375, 57.12890625, 2.4609375, 0.34867504239082336 ]
2.633333
79
0
79
0
[ 21.533203125, 123.837890625, 120.498046875, 57.216796875, 2.197265625, 0.6928406953811646 ]
[ 20.830078125, 124.013671875, 123.837890625, 57.12890625, 2.4609375, 0.34867504239082336 ]
2.666667
80
0
80
0
[ 21.533203125, 123.75, 119.619140625, 56.865234375, 2.197265625, 1.2317166328430176 ]
[ 21.26953125, 124.013671875, 123.310546875, 57.12890625, 2.4609375, 0.34867504239082336 ]
2.7
81
0
81
0
[ 21.4453125, 123.662109375, 118.564453125, 56.77734375, 2.109375, 2.386451244354248 ]
[ 21.708984375, 123.837890625, 122.607421875, 57.12890625, 2.4609375, 0.34867504239082336 ]
2.733333
82
0
82
0
[ 21.4453125, 123.3984375, 117.24609375, 56.689453125, 2.109375, 4.311008453369141 ]
[ 21.708984375, 123.75, 121.640625, 57.12890625, 2.4609375, 1.115760087966919 ]
2.766667
83
0
83
0
[ 21.4453125, 122.607421875, 116.015625, 56.689453125, 2.197265625, 6.3125481605529785 ]
[ 21.181640625, 123.486328125, 120.673828125, 57.12890625, 2.4609375, 2.161785125732422 ]
2.8
84
0
84
0
[ 21.4453125, 121.552734375, 114.78515625, 56.689453125, 2.197265625, 8.083141326904297 ]
[ 21.09375, 123.134765625, 119.619140625, 57.12890625, 2.4609375, 3.486750364303589 ]
2.833333
85
0
85
0
[ 21.357421875, 120.234375, 113.818359375, 56.689453125, 2.197265625, 9.160892486572266 ]
[ 21.181640625, 122.34375, 118.212890625, 57.12890625, 2.4609375, 5.578800678253174 ]
2.866667
86
0
86
0
[ 21.357421875, 118.916015625, 112.8515625, 56.689453125, 2.197265625, 9.699769020080566 ]
[ 21.533203125, 121.376953125, 117.24609375, 57.041015625, 2.4609375, 6.76429557800293 ]
2.9
87
0
87
0
[ 21.357421875, 117.421875, 112.1484375, 56.689453125, 2.197265625, 9.776751518249512 ]
[ 21.708984375, 119.970703125, 116.19140625, 57.041015625, 2.4609375, 7.880055904388428 ]
2.933333
88
0
88
0
[ 21.26953125, 115.83984375, 111.533203125, 56.77734375, 2.197265625, 9.85373306274414 ]
[ 21.708984375, 118.916015625, 115.400390625, 57.041015625, 2.4609375, 8.507671356201172 ]
2.966667
89
0
89
0
[ 20.830078125, 114.2578125, 111.005859375, 57.041015625, 2.109375, 10.161663055419922 ]
[ 21.708984375, 117.509765625, 114.521484375, 57.041015625, 2.4609375, 8.926080703735352 ]
3
90
0
90
0
[ 19.599609375, 112.67578125, 110.56640625, 57.3046875, 2.109375, 10.392609596252441 ]
[ 21.533203125, 115.927734375, 113.73046875, 57.041015625, 2.4609375, 9.344491004943848 ]
3.033333
91
0
91
0
[ 18.28125, 111.357421875, 110.390625, 57.392578125, 1.845703125, 10.392609596252441 ]
[ 21.005859375, 114.609375, 113.291015625, 57.041015625, 2.4609375, 9.69316577911377 ]
3.066667
92
0
92
0
[ 17.05078125, 110.21484375, 110.302734375, 57.392578125, 1.142578125, 10.392609596252441 ]
[ 19.951171875, 113.02734375, 112.8515625, 57.12890625, 2.4609375, 9.90237045288086 ]
3.1
93
0
93
0
[ 16.083984375, 109.16015625, 110.302734375, 57.392578125, 0.087890625, 10.392609596252441 ]
[ 18.28125, 111.533203125, 112.587890625, 57.12890625, 2.197265625, 9.972105979919434 ]
3.133333
94
0
94
0
[ 15.380859375, 108.369140625, 110.21484375, 57.392578125, -0.966796875, 10.469592094421387 ]
[ 17.40234375, 110.390625, 112.587890625, 57.12890625, 1.669921875, 10.111576080322266 ]
3.166667
95
0
95
0
[ 14.677734375, 107.578125, 110.21484375, 57.3046875, -1.93359375, 10.546573638916016 ]
[ 16.875, 109.423828125, 112.412109375, 57.12890625, 0.966796875, 10.181310653686523 ]
3.2
96
0
96
0
[ 14.0625, 106.787109375, 110.126953125, 56.953125, -2.724609375, 10.546573638916016 ]
[ 16.34765625, 108.28125, 112.412109375, 57.12890625, 0.087890625, 10.181310653686523 ]
3.233333
97
0
97
0
[ 13.7109375, 106.259765625, 110.126953125, 56.77734375, -2.98828125, 10.623556137084961 ]
[ 15.46875, 107.40234375, 112.412109375, 57.12890625, -0.791015625, 10.181310653686523 ]
3.266667
98
0
98
0
[ 13.623046875, 105.732421875, 110.126953125, 56.689453125, -3.076171875, 10.700538635253906 ]
[ 14.23828125, 106.611328125, 112.412109375, 57.12890625, -1.669921875, 10.181310653686523 ]
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": 4,
    "total_frames": 1412,
    "total_tasks": 1,
    "total_videos": 8,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:4"
    },
    "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.laptop": {
            "dtype": "video",
            "shape": [
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                640,
                3
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            "names": [
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            "info": {
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                "video.channels": 3,
                "video.codec": "h264",
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        "observation.images.phone": {
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            "names": [
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            ],
            "info": {
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                "video.channels": 3,
                "video.codec": "h264",
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                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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