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Datasets:
satvikahuja
/
so100_tape_pick

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
1
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action
sequence
observation.state
sequence
timestamp
float32
0
20
frame_index
int64
0
599
episode_index
int64
0
9
index
int64
0
5.23k
task_index
int64
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[ -6.767578125, 190.1953125, 160.576171875, 71.89453125, -3.427734375, 0.819000780582428, 1.0546875 ]
2.1
63
0
63
0
[ -6.85546875, 190.986328125, 154.072265625, 74.35546875, -2.8125, 0.31185030937194824, 1.7578125 ]
[ -6.767578125, 190.1953125, 160.13671875, 72.509765625, -3.427734375, 0.819000780582428, 1.0546875 ]
2.133333
64
0
64
0
[ -6.85546875, 190.986328125, 153.544921875, 74.970703125, -2.8125, 0.31185030937194824, 1.7578125 ]
[ -6.767578125, 190.1953125, 159.697265625, 73.037109375, -3.427734375, 0.819000780582428, 1.0546875 ]
2.166667
65
0
65
0
[ -6.85546875, 190.986328125, 153.10546875, 75.498046875, -2.900390625, 0.31185030937194824, 1.7578125 ]
[ -6.767578125, 190.1953125, 159.169921875, 73.65234375, -3.427734375, 0.819000780582428, 1.0546875 ]
2.2
66
0
66
0
[ -6.85546875, 190.986328125, 152.666015625, 75.9375, -3.076171875, 0.31185030937194824, 1.7578125 ]
[ -6.767578125, 190.1953125, 158.5546875, 74.267578125, -3.427734375, 0.819000780582428, 1.0546875 ]
2.233333
67
0
67
0
[ -6.943359375, 190.986328125, 152.138671875, 76.376953125, -3.251953125, 0.31185030937194824, 1.7578125 ]
[ -6.767578125, 190.1953125, 158.02734375, 74.8828125, -3.427734375, 0.819000780582428, 1.0546875 ]
2.266667
68
0
68
0
[ -7.20703125, 190.986328125, 151.787109375, 76.728515625, -3.251953125, 0.31185030937194824, 1.7578125 ]
[ -6.767578125, 190.1953125, 157.5, 75.322265625, -3.427734375, 0.819000780582428, 1.0546875 ]
2.3
69
0
69
0
[ -7.3828125, 190.986328125, 151.611328125, 76.9921875, -3.427734375, 0.31185030937194824, 1.7578125 ]
[ -6.767578125, 190.1953125, 156.97265625, 75.849609375, -3.427734375, 0.819000780582428, 1.0546875 ]
2.333333
70
0
70
0
[ -7.55859375, 190.986328125, 151.34765625, 77.34375, -3.603515625, 0.31185030937194824, 1.7578125 ]
[ -6.85546875, 190.1953125, 156.4453125, 76.2890625, -3.427734375, 0.819000780582428, 1.0546875 ]
2.366667
71
0
71
0
[ -7.91015625, 190.986328125, 150.99609375, 77.607421875, -3.69140625, 0.31185030937194824, 2.021484375 ]
[ -7.03125, 190.1953125, 156.181640625, 76.640625, -3.427734375, 0.819000780582428, 1.0546875 ]
2.4
72
0
72
0
[ -8.173828125, 190.986328125, 150.732421875, 77.958984375, -3.427734375, 0.31185030937194824, 2.197265625 ]
[ -7.20703125, 190.1953125, 155.91796875, 76.9921875, -3.427734375, 0.819000780582428, 1.0546875 ]
2.433333
73
0
73
0
[ -8.525390625, 190.986328125, 150.46875, 78.22265625, -3.33984375, 0.31185030937194824, 2.4609375 ]
[ -7.470703125, 190.1953125, 155.56640625, 77.34375, -3.427734375, 0.819000780582428, 1.142578125 ]
2.466667
74
0
74
0
[ -8.525390625, 190.986328125, 150.1171875, 78.57421875, -3.251953125, 0.31185030937194824, 2.4609375 ]
[ -7.734375, 190.1953125, 155.21484375, 77.6953125, -3.427734375, 0.819000780582428, 1.40625 ]
2.5
75
0
75
0
[ -8.525390625, 190.986328125, 149.94140625, 78.662109375, -3.1640625, 0.31185030937194824, 2.548828125 ]
[ -7.91015625, 190.1953125, 154.951171875, 77.958984375, -3.427734375, 0.819000780582428, 1.7578125 ]
2.533333
76
0
76
0
[ -8.61328125, 190.986328125, 149.853515625, 78.75, -3.1640625, 0.31185030937194824, 2.724609375 ]
[ -8.0859375, 190.1953125, 154.599609375, 78.310546875, -3.427734375, 0.819000780582428, 1.7578125 ]
2.566667
77
0
77
0
[ -8.7890625, 190.986328125, 149.853515625, 78.837890625, -3.076171875, 0.31185030937194824, 2.900390625 ]
[ -8.173828125, 190.1953125, 154.3359375, 78.486328125, -3.427734375, 0.819000780582428, 1.93359375 ]
2.6
78
0
78
0
[ -9.052734375, 190.986328125, 149.765625, 78.837890625, -3.076171875, 0.31185030937194824, 3.1640625 ]
[ -8.173828125, 190.1953125, 154.3359375, 78.57421875, -3.427734375, 0.819000780582428, 2.109375 ]
2.633333
79
0
79
0
[ -9.140625, 190.986328125, 149.677734375, 78.837890625, -3.076171875, 0.31185030937194824, 3.251953125 ]
[ -8.173828125, 190.1953125, 154.248046875, 78.662109375, -3.427734375, 0.819000780582428, 2.28515625 ]
2.666667
80
0
80
0
[ -9.140625, 190.986328125, 149.501953125, 78.92578125, -2.98828125, 0.31185030937194824, 3.251953125 ]
[ -8.4375, 190.1953125, 154.16015625, 78.75, -3.427734375, 0.819000780582428, 2.548828125 ]
2.7
81
0
81
0
[ -9.140625, 190.72265625, 149.0625, 79.013671875, -2.900390625, 0.31185030937194824, 3.251953125 ]
[ -8.7890625, 190.1953125, 154.072265625, 78.75, -3.427734375, 0.819000780582428, 2.63671875 ]
2.733333
82
0
82
0
[ -9.052734375, 190.458984375, 148.447265625, 79.27734375, -2.8125, 0.31185030937194824, 3.076171875 ]
[ -8.876953125, 190.1953125, 153.896484375, 78.75, -3.427734375, 0.819000780582428, 2.63671875 ]
2.766667
83
0
83
0
[ -8.701171875, 190.107421875, 147.83203125, 79.453125, -2.8125, 0.31185030937194824, 2.548828125 ]
[ -8.876953125, 190.1953125, 153.720703125, 78.75, -3.427734375, 0.819000780582428, 2.63671875 ]
2.8
84
0
84
0
[ -8.4375, 189.755859375, 147.3046875, 79.716796875, -2.900390625, 0.31185030937194824, 2.109375 ]
[ -8.876953125, 190.1953125, 153.193359375, 79.1015625, -3.427734375, 0.819000780582428, 2.63671875 ]
2.833333
85
0
85
0
[ -8.4375, 189.580078125, 146.77734375, 79.98046875, -2.900390625, 0.31185030937194824, 2.021484375 ]
[ -8.876953125, 190.1953125, 152.75390625, 79.27734375, -3.427734375, 0.819000780582428, 2.548828125 ]
2.866667
86
0
86
0
[ -8.61328125, 189.4921875, 146.42578125, 80.15625, -2.900390625, 0.31185030937194824, 2.021484375 ]
[ -8.876953125, 190.01953125, 152.2265625, 79.541015625, -3.427734375, 0.819000780582428, 2.548828125 ]
2.9
87
0
87
0
[ -8.96484375, 189.4921875, 146.07421875, 80.33203125, -2.900390625, 0.31185030937194824, 2.021484375 ]
[ -8.876953125, 189.931640625, 151.69921875, 79.892578125, -3.427734375, 0.819000780582428, 2.548828125 ]
2.933333
88
0
88
0
[ -9.228515625, 189.4921875, 145.986328125, 80.419921875, -2.900390625, 0.31185030937194824, 2.021484375 ]
[ -8.876953125, 189.755859375, 151.083984375, 80.15625, -3.427734375, 0.819000780582428, 2.548828125 ]
2.966667
89
0
89
0
[ -9.228515625, 189.4921875, 145.8984375, 80.419921875, -2.98828125, 0.31185030937194824, 2.021484375 ]
[ -8.876953125, 189.755859375, 150.64453125, 80.244140625, -3.427734375, 0.819000780582428, 2.548828125 ]
3
90
0
90
0
[ -9.31640625, 189.31640625, 145.810546875, 80.33203125, -3.076171875, 0.31185030937194824, 2.021484375 ]
[ -8.876953125, 189.755859375, 150.380859375, 80.244140625, -3.427734375, 0.819000780582428, 2.548828125 ]
3.033333
91
0
91
0
[ -9.31640625, 188.96484375, 145.72265625, 80.244140625, -3.1640625, 0.31185030937194824, 2.021484375 ]
[ -8.876953125, 189.755859375, 150.205078125, 80.244140625, -3.427734375, 0.819000780582428, 2.548828125 ]
3.066667
92
0
92
0
[ -9.31640625, 188.61328125, 145.546875, 80.068359375, -3.1640625, 0.31185030937194824, 2.021484375 ]
[ -8.876953125, 189.66796875, 150.205078125, 80.244140625, -3.427734375, 0.819000780582428, 2.548828125 ]
3.1
93
0
93
0
[ -9.31640625, 188.525390625, 145.458984375, 79.98046875, -3.33984375, 0.31185030937194824, 2.021484375 ]
[ -8.876953125, 189.4921875, 150.205078125, 80.244140625, -3.427734375, 0.819000780582428, 2.548828125 ]
3.133333
94
0
94
0
[ -9.31640625, 188.61328125, 145.458984375, 79.98046875, -3.515625, 0.31185030937194824, 2.021484375 ]
[ -8.876953125, 189.140625, 150.205078125, 80.244140625, -3.427734375, 0.819000780582428, 2.548828125 ]
3.166667
95
0
95
0
[ -9.31640625, 188.525390625, 145.37109375, 79.892578125, -3.515625, 0.31185030937194824, 1.93359375 ]
[ -8.876953125, 188.96484375, 150.205078125, 80.244140625, -3.427734375, 0.819000780582428, 2.548828125 ]
3.2
96
0
96
0
[ -9.31640625, 188.525390625, 145.107421875, 79.892578125, -3.69140625, 0.31185030937194824, 1.7578125 ]
[ -8.876953125, 188.96484375, 150.205078125, 80.244140625, -3.427734375, 0.819000780582428, 2.548828125 ]
3.233333
97
0
97
0
[ -9.140625, 188.525390625, 144.84375, 80.068359375, -3.779296875, 0.31185030937194824, 1.669921875 ]
[ -8.876953125, 188.96484375, 150.1171875, 80.244140625, -3.427734375, 0.819000780582428, 2.548828125 ]
3.266667
98
0
98
0
[ -8.96484375, 188.525390625, 144.4921875, 80.15625, -3.8671875, 0.31185030937194824, 1.494140625 ]
[ -8.876953125, 188.96484375, 149.94140625, 80.33203125, -3.427734375, 0.819000780582428, 2.548828125 ]
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": 10,
    "total_frames": 5226,
    "total_tasks": 1,
    "total_videos": 20,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:10"
    },
    "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": [
                7
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper",
                "main_extra_wrist"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper",
                "main_extra_wrist"
            ]
        },
        "observation.images.wristcam(0)": {
            "dtype": "video",
            "shape": [
                480,
                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
            }
        },
        "observation.images.webcam(rs)": {
            "dtype": "video",
            "shape": [
                480,
                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
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        },
        "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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