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Datasets:
andrewcole712
/
so100_tape_bin_place

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
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xet
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action
sequence
observation.state
sequence
timestamp
float32
0
23.6
frame_index
int64
0
707
episode_index
int64
0
49
index
int64
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28.4k
task_index
int64
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72
0
[ -67.412109375, 128.84765625, 138.427734375, 49.5703125, -20.21484375, 19.75199317932129 ]
[ -66.4453125, 132.01171875, 142.55859375, 48.603515625, -21.09375, 19.449081420898438 ]
2.433333
73
0
73
0
[ -67.67578125, 127.880859375, 138.076171875, 49.5703125, -20.0390625, 19.75199317932129 ]
[ -67.1484375, 130.869140625, 141.943359375, 48.955078125, -20.830078125, 19.532554626464844 ]
2.466667
74
0
74
0
[ -67.8515625, 127.001953125, 137.900390625, 49.39453125, -19.86328125, 19.75199317932129 ]
[ -67.236328125, 129.7265625, 141.328125, 49.21875, -20.654296875, 19.61602783203125 ]
2.5
75
0
75
0
[ -67.939453125, 126.123046875, 137.8125, 49.130859375, -19.6875, 19.663419723510742 ]
[ -67.236328125, 128.759765625, 140.80078125, 49.21875, -20.390625, 19.61602783203125 ]
2.533333
76
0
76
0
[ -68.02734375, 125.244140625, 137.63671875, 48.8671875, -19.51171875, 19.663419723510742 ]
[ -67.1484375, 127.705078125, 140.537109375, 49.21875, -20.21484375, 19.61602783203125 ]
2.566667
77
0
77
0
[ -68.115234375, 124.453125, 137.4609375, 48.69140625, -19.3359375, 19.663419723510742 ]
[ -67.412109375, 126.826171875, 140.2734375, 49.21875, -20.0390625, 19.61602783203125 ]
2.6
78
0
78
0
[ -68.203125, 123.57421875, 137.373046875, 48.427734375, -19.072265625, 19.663419723510742 ]
[ -67.8515625, 125.859375, 140.09765625, 49.21875, -19.775390625, 19.61602783203125 ]
2.633333
79
0
79
0
[ -68.291015625, 122.783203125, 137.109375, 48.427734375, -18.896484375, 19.663419723510742 ]
[ -68.115234375, 124.98046875, 139.921875, 49.21875, -19.6875, 19.61602783203125 ]
2.666667
80
0
80
0
[ -68.291015625, 121.9921875, 136.845703125, 48.427734375, -18.720703125, 19.574844360351562 ]
[ -68.203125, 124.189453125, 139.74609375, 49.04296875, -19.423828125, 19.61602783203125 ]
2.7
81
0
81
0
[ -68.203125, 121.201171875, 136.40625, 48.603515625, -18.544921875, 19.486270904541016 ]
[ -68.203125, 123.3984375, 139.5703125, 49.04296875, -19.248046875, 19.61602783203125 ]
2.733333
82
0
82
0
[ -68.115234375, 120.322265625, 135.966796875, 48.8671875, -18.45703125, 19.486270904541016 ]
[ -68.115234375, 122.958984375, 139.5703125, 49.04296875, -19.248046875, 19.61602783203125 ]
2.766667
83
0
83
0
[ -68.02734375, 119.443359375, 135.52734375, 48.955078125, -18.369140625, 19.39769744873047 ]
[ -68.115234375, 122.080078125, 139.130859375, 49.04296875, -18.984375, 19.61602783203125 ]
2.8
84
0
84
0
[ -67.8515625, 118.4765625, 135.263671875, 48.955078125, -18.369140625, 19.39769744873047 ]
[ -68.203125, 120.9375, 138.427734375, 49.04296875, -18.80859375, 19.61602783203125 ]
2.833333
85
0
85
0
[ -67.67578125, 117.59765625, 134.912109375, 48.955078125, -18.369140625, 19.39769744873047 ]
[ -68.203125, 119.970703125, 138.1640625, 49.04296875, -18.720703125, 19.61602783203125 ]
2.866667
86
0
86
0
[ -67.587890625, 116.71875, 134.6484375, 48.955078125, -18.369140625, 19.39769744873047 ]
[ -68.203125, 119.794921875, 137.98828125, 49.04296875, -18.720703125, 19.61602783203125 ]
2.9
87
0
87
0
[ -67.587890625, 115.83984375, 134.384765625, 48.779296875, -18.369140625, 19.39769744873047 ]
[ -68.203125, 119.619140625, 137.98828125, 49.04296875, -18.720703125, 19.61602783203125 ]
2.933333
88
0
88
0
[ -67.587890625, 114.9609375, 134.033203125, 48.779296875, -18.369140625, 19.486270904541016 ]
[ -68.203125, 119.35546875, 137.8125, 49.04296875, -18.720703125, 19.61602783203125 ]
2.966667
89
0
89
0
[ -67.587890625, 114.08203125, 133.681640625, 48.779296875, -18.369140625, 19.486270904541016 ]
[ -68.02734375, 118.30078125, 137.197265625, 49.04296875, -18.720703125, 19.61602783203125 ]
3
90
0
90
0
[ -67.587890625, 113.02734375, 133.2421875, 48.779296875, -18.369140625, 19.486270904541016 ]
[ -67.8515625, 116.630859375, 136.494140625, 48.955078125, -18.720703125, 19.61602783203125 ]
3.033333
91
0
91
0
[ -67.587890625, 112.060546875, 132.5390625, 48.779296875, -18.369140625, 19.486270904541016 ]
[ -67.8515625, 115.48828125, 136.318359375, 48.8671875, -18.720703125, 19.61602783203125 ]
3.066667
92
0
92
0
[ -67.587890625, 110.91796875, 131.8359375, 48.779296875, -18.28125, 19.486270904541016 ]
[ -67.8515625, 114.2578125, 135.87890625, 49.04296875, -18.720703125, 19.61602783203125 ]
3.1
93
0
93
0
[ -67.5, 109.599609375, 130.869140625, 48.955078125, -18.28125, 19.574844360351562 ]
[ -67.939453125, 113.02734375, 135.263671875, 48.8671875, -18.720703125, 19.61602783203125 ]
3.133333
94
0
94
0
[ -67.5, 108.193359375, 129.814453125, 49.306640625, -18.193359375, 19.574844360351562 ]
[ -68.02734375, 112.5, 135, 48.33984375, -18.720703125, 19.61602783203125 ]
3.166667
95
0
95
0
[ -67.412109375, 107.05078125, 128.84765625, 49.658203125, -18.193359375, 19.574844360351562 ]
[ -68.02734375, 112.412109375, 135, 49.130859375, -18.720703125, 19.61602783203125 ]
3.2
96
0
96
0
[ -67.412109375, 106.083984375, 127.96875, 49.921875, -18.193359375, 19.574844360351562 ]
[ -67.939453125, 112.060546875, 134.82421875, 49.130859375, -18.720703125, 19.61602783203125 ]
3.233333
97
0
97
0
[ -67.5, 105.556640625, 127.44140625, 50.185546875, -18.193359375, 19.574844360351562 ]
[ -67.939453125, 110.91796875, 133.681640625, 49.39453125, -18.720703125, 19.61602783203125 ]
3.266667
98
0
98
0
[ -67.67578125, 105.29296875, 127.08984375, 50.2734375, -18.193359375, 19.574844360351562 ]
[ -67.8515625, 108.896484375, 131.923828125, 49.482421875, -18.544921875, 19.61602783203125 ]
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": 50,
    "total_frames": 28437,
    "total_tasks": 1,
    "total_videos": 50,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "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": [
                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.phone": {
            "dtype": "video",
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 720,
                "video.width": 1280,
                "video.channels": 3,
                "video.codec": "av1",
                "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": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

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