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Datasets:
SeanLMH
/
so100_picknplace_v2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
pick_n_place
Libraries:
Datasets
Dask
License:
Dataset card Viewer Files Community
1
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action
sequence
observation.state
sequence
timestamp
float32
0
21.7
frame_index
int64
0
650
episode_index
int64
0
200
index
int64
0
68.9k
task_index
int64
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[ 20.302734375, 90.17578125, 98.26171875, 30.673828125, -105.732421875, 23.050556182861328 ]
2.4
72
0
72
0
[ 28.564453125, 98.173828125, 96.591796875, 22.5, -107.841796875, 8.69565200805664 ]
[ 22.060546875, 90.263671875, 98.26171875, 29.267578125, -105.908203125, 23.050556182861328 ]
2.433333
73
0
73
0
[ 29.619140625, 97.3828125, 96.240234375, 21.357421875, -107.841796875, 8.603145599365234 ]
[ 23.642578125, 90.263671875, 98.26171875, 28.125, -106.259765625, 23.050556182861328 ]
2.466667
74
0
74
0
[ 30.5859375, 96.50390625, 95.9765625, 20.302734375, -108.017578125, 8.603145599365234 ]
[ 25.13671875, 90.263671875, 98.26171875, 26.806640625, -106.34765625, 23.050556182861328 ]
2.5
75
0
75
0
[ 31.46484375, 95.537109375, 95.537109375, 18.544921875, -107.841796875, 8.603145599365234 ]
[ 26.54296875, 90.263671875, 98.26171875, 25.400390625, -106.5234375, 23.050556182861328 ]
2.533333
76
0
76
0
[ 32.255859375, 94.5703125, 94.921875, 17.2265625, -107.578125, 8.788158416748047 ]
[ 27.7734375, 90.263671875, 98.26171875, 24.2578125, -106.787109375, 23.050556182861328 ]
2.566667
77
0
77
0
[ 32.958984375, 93.427734375, 93.8671875, 16.69921875, -107.2265625, 9.065680503845215 ]
[ 28.828125, 90.263671875, 98.26171875, 23.02734375, -106.787109375, 23.050556182861328 ]
2.6
78
0
78
0
[ 33.662109375, 92.109375, 92.548828125, 15.99609375, -106.611328125, 9.250693321228027 ]
[ 29.619140625, 90.263671875, 98.26171875, 21.62109375, -106.69921875, 23.050556182861328 ]
2.633333
79
0
79
0
[ 34.27734375, 90.703125, 91.0546875, 15.380859375, -106.259765625, 9.34320068359375 ]
[ 30.41015625, 90.17578125, 98.26171875, 20.390625, -106.611328125, 23.050556182861328 ]
2.666667
80
0
80
0
[ 34.8046875, 89.296875, 89.47265625, 15.029296875, -105.908203125, 9.528214454650879 ]
[ 31.11328125, 89.912109375, 98.173828125, 19.248046875, -106.5234375, 23.050556182861328 ]
2.7
81
0
81
0
[ 35.33203125, 87.71484375, 87.626953125, 14.853515625, -105.1171875, 9.620721817016602 ]
[ 31.81640625, 89.033203125, 97.91015625, 18.369140625, -106.34765625, 23.050556182861328 ]
2.733333
82
0
82
0
[ 35.859375, 86.044921875, 85.60546875, 14.853515625, -104.677734375, 9.620721817016602 ]
[ 32.431640625, 87.802734375, 97.20703125, 17.841796875, -105.908203125, 23.050556182861328 ]
2.766667
83
0
83
0
[ 36.298828125, 84.375, 84.0234375, 14.58984375, -104.58984375, 9.620721817016602 ]
[ 33.046875, 86.220703125, 96.416015625, 17.314453125, -105.46875, 23.050556182861328 ]
2.8
84
0
84
0
[ 36.650390625, 82.6171875, 82.44140625, 13.974609375, -104.23828125, 9.620721817016602 ]
[ 33.662109375, 84.55078125, 95.361328125, 16.962890625, -104.94140625, 23.050556182861328 ]
2.833333
85
0
85
0
[ 36.9140625, 80.68359375, 80.771484375, 13.447265625, -103.88671875, 9.620721817016602 ]
[ 34.189453125, 83.056640625, 94.21875, 16.69921875, -104.58984375, 23.050556182861328 ]
2.866667
86
0
86
0
[ 37.265625, 78.837890625, 79.1015625, 13.0078125, -103.798828125, 9.620721817016602 ]
[ 34.716796875, 81.123046875, 92.900390625, 16.083984375, -104.326171875, 23.050556182861328 ]
2.9
87
0
87
0
[ 37.529296875, 77.16796875, 77.607421875, 12.65625, -103.798828125, 9.620721817016602 ]
[ 35.068359375, 79.013671875, 91.23046875, 15.732421875, -103.798828125, 23.050556182861328 ]
2.933333
88
0
88
0
[ 37.79296875, 75.498046875, 76.11328125, 12.568359375, -103.623046875, 9.620721817016602 ]
[ 35.5078125, 76.904296875, 89.560546875, 15.46875, -103.447265625, 23.050556182861328 ]
2.966667
89
0
89
0
[ 37.96875, 74.091796875, 74.70703125, 12.48046875, -103.53515625, 9.620721817016602 ]
[ 35.771484375, 75.146484375, 88.2421875, 15.029296875, -103.271484375, 23.050556182861328 ]
3
90
0
90
0
[ 38.056640625, 72.861328125, 73.740234375, 12.392578125, -103.53515625, 9.620721817016602 ]
[ 36.03515625, 73.4765625, 86.8359375, 14.765625, -103.095703125, 23.050556182861328 ]
3.033333
91
0
91
0
[ 38.14453125, 71.806640625, 72.7734375, 11.953125, -103.271484375, 9.620721817016602 ]
[ 36.298828125, 71.89453125, 85.4296875, 14.58984375, -103.095703125, 23.050556182861328 ]
3.066667
92
0
92
0
[ 38.14453125, 70.751953125, 71.89453125, 11.513671875, -102.919921875, 9.620721817016602 ]
[ 36.5625, 70.400390625, 83.935546875, 14.4140625, -103.095703125, 23.050556182861328 ]
3.1
93
0
93
0
[ 38.14453125, 69.697265625, 70.927734375, 11.337890625, -102.919921875, 9.620721817016602 ]
[ 36.650390625, 68.90625, 82.529296875, 13.974609375, -103.095703125, 23.050556182861328 ]
3.133333
94
0
94
0
[ 38.14453125, 68.642578125, 69.873046875, 10.810546875, -102.65625, 9.620721817016602 ]
[ 36.9140625, 67.587890625, 81.2109375, 13.7109375, -102.83203125, 23.050556182861328 ]
3.166667
95
0
95
0
[ 38.14453125, 67.412109375, 68.642578125, 10.283203125, -102.12890625, 9.713229179382324 ]
[ 37.08984375, 66.4453125, 80.068359375, 13.623046875, -102.48046875, 23.050556182861328 ]
3.2
96
0
96
0
[ 38.14453125, 66.357421875, 67.32421875, 10.283203125, -102.041015625, 9.898241996765137 ]
[ 37.177734375, 65.302734375, 79.013671875, 13.18359375, -102.3046875, 23.050556182861328 ]
3.233333
97
0
97
0
[ 38.14453125, 65.302734375, 66.181640625, 10.107421875, -102.3046875, 9.898241996765137 ]
[ 37.265625, 64.248046875, 77.87109375, 12.83203125, -102.216796875, 23.050556182861328 ]
3.266667
98
0
98
0
[ 38.232421875, 64.423828125, 65.126953125, 9.66796875, -102.12890625, 9.898241996765137 ]
[ 37.265625, 63.10546875, 76.904296875, 12.568359375, -102.041015625, 23.050556182861328 ]
3.3
99
0
99
0
End of preview. Expand in Dataset Viewer.

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "so100",
    "total_episodes": 201,
    "total_frames": 68906,
    "total_tasks": 1,
    "total_videos": 402,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:201"
    },
    "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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                "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.overhead": {
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        "timestamp": {
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            "names": null
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        "frame_index": {
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            "names": null
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        "episode_index": {
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        "index": {
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        }
    }
}

Citation

BibTeX:

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License:
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Number of rows:
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