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Datasets:
ryanpennings
/
so100_pegcrate_d1b

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
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action
sequence
observation.state
sequence
timestamp
float32
0
15.9
frame_index
int64
0
477
episode_index
int64
0
49
index
int64
0
15.6k
task_index
int64
0
0
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[ 2.28515625, 97.998046875, 92.548828125, 73.828125, -82.001953125, 1.1737089157104492 ]
[ 2.548828125, 101.513671875, 106.435546875, 68.291015625, -68.02734375, 1.6085790395736694 ]
2.4
72
0
72
0
[ 2.197265625, 96.591796875, 90, 74.970703125, -84.638671875, 1.7605634927749634 ]
[ 2.548828125, 99.84375, 104.326171875, 69.873046875, -71.455078125, 1.6085790395736694 ]
2.433333
73
0
73
0
[ 1.7578125, 95.009765625, 87.275390625, 76.2890625, -87.36328125, 1.1737089157104492 ]
[ 2.548828125, 98.349609375, 102.3046875, 71.279296875, -74.619140625, 1.6085790395736694 ]
2.466667
74
0
74
0
[ 0.791015625, 93.427734375, 85.078125, 77.255859375, -89.208984375, 1.2910797595977783 ]
[ 2.548828125, 96.767578125, 100.01953125, 72.59765625, -77.6953125, 1.6085790395736694 ]
2.5
75
0
75
0
[ -0.263671875, 91.58203125, 82.96875, 78.310546875, -91.0546875, 1.1737089157104492 ]
[ 2.4609375, 95.185546875, 97.646484375, 73.916015625, -80.68359375, 1.6085790395736694 ]
2.533333
76
0
76
0
[ -1.0546875, 90.087890625, 81.298828125, 79.453125, -92.197265625, 1.1737089157104492 ]
[ 2.373046875, 93.603515625, 95.2734375, 75.05859375, -83.408203125, 1.6085790395736694 ]
2.566667
77
0
77
0
[ -1.845703125, 88.59375, 79.453125, 80.859375, -92.28515625, 1.1737089157104492 ]
[ 1.7578125, 91.93359375, 92.900390625, 76.201171875, -85.78125, 1.6085790395736694 ]
2.6
78
0
78
0
[ -2.724609375, 87.275390625, 78.134765625, 82.177734375, -91.93359375, 1.1737089157104492 ]
[ 0.966796875, 90.263671875, 90.703125, 77.255859375, -87.890625, 1.6085790395736694 ]
2.633333
79
0
79
0
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[ -0.17578125, 88.59375, 88.681640625, 78.57421875, -89.384765625, 1.6085790395736694 ]
2.666667
80
0
80
0
[ -3.779296875, 84.990234375, 76.2890625, 84.462890625, -90.791015625, 2.112675905227661 ]
[ -1.23046875, 87.01171875, 86.748046875, 79.8046875, -90.087890625, 1.6085790395736694 ]
2.7
81
0
81
0
[ -3.955078125, 84.0234375, 75.234375, 84.90234375, -90.87890625, 2.112675905227661 ]
[ -2.021484375, 85.693359375, 85.25390625, 81.03515625, -90.263671875, 1.6085790395736694 ]
2.733333
82
0
82
0
[ -4.130859375, 83.056640625, 74.1796875, 85.166015625, -90.87890625, 2.2300469875335693 ]
[ -2.724609375, 84.287109375, 83.935546875, 82.08984375, -90.52734375, 1.6085790395736694 ]
2.766667
83
0
83
0
[ -4.21875, 82.001953125, 73.212890625, 85.078125, -90.87890625, 2.2300469875335693 ]
[ -3.1640625, 83.14453125, 82.6171875, 83.14453125, -90.3515625, 1.6085790395736694 ]
2.8
84
0
84
0
[ -4.5703125, 80.859375, 72.158203125, 84.638671875, -90.87890625, 2.2300469875335693 ]
[ -3.427734375, 82.177734375, 81.474609375, 83.759765625, -90.3515625, 1.6085790395736694 ]
2.833333
85
0
85
0
[ -4.921875, 79.541015625, 70.927734375, 84.0234375, -90.87890625, 2.2300469875335693 ]
[ -3.69140625, 81.123046875, 80.244140625, 84.19921875, -90.3515625, 1.6085790395736694 ]
2.866667
86
0
86
0
[ -5.2734375, 78.310546875, 69.873046875, 83.3203125, -90.87890625, 2.2300469875335693 ]
[ -3.955078125, 80.068359375, 79.1015625, 84.19921875, -90.3515625, 1.6085790395736694 ]
2.9
87
0
87
0
[ -5.44921875, 77.16796875, 68.90625, 82.44140625, -90.87890625, 2.2300469875335693 ]
[ -4.21875, 78.75, 77.958984375, 84.19921875, -90.3515625, 1.6085790395736694 ]
2.933333
88
0
88
0
[ -5.44921875, 76.376953125, 68.37890625, 81.38671875, -90.703125, 2.2300469875335693 ]
[ -4.5703125, 77.431640625, 76.728515625, 84.111328125, -90.3515625, 1.6085790395736694 ]
2.966667
89
0
89
0
[ -5.537109375, 75.5859375, 68.115234375, 80.595703125, -90.263671875, 2.3474178314208984 ]
[ -4.833984375, 76.11328125, 75.76171875, 83.671875, -90.3515625, 1.6085790395736694 ]
3
90
0
90
0
[ -5.537109375, 74.970703125, 68.291015625, 79.892578125, -90.17578125, 2.3474178314208984 ]
[ -5.09765625, 75.146484375, 74.8828125, 82.96875, -90.3515625, 1.6085790395736694 ]
3.033333
91
0
91
0
[ -5.2734375, 74.619140625, 68.818359375, 78.75, -90.263671875, 2.3474178314208984 ]
[ -5.2734375, 74.267578125, 74.267578125, 82.265625, -90.3515625, 1.6085790395736694 ]
3.066667
92
0
92
0
[ -4.921875, 74.443359375, 69.609375, 77.87109375, -90.615234375, 2.3474178314208984 ]
[ -5.361328125, 73.65234375, 73.828125, 81.5625, -90.3515625, 1.6085790395736694 ]
3.1
93
0
93
0
[ -4.833984375, 74.53125, 70.3125, 76.81640625, -90.615234375, 2.3474178314208984 ]
[ -5.361328125, 73.037109375, 73.740234375, 80.771484375, -90.3515625, 1.6085790395736694 ]
3.133333
94
0
94
0
[ -4.74609375, 74.619140625, 71.19140625, 75.673828125, -90.615234375, 2.3474178314208984 ]
[ -5.361328125, 72.59765625, 73.740234375, 79.892578125, -90.3515625, 1.6085790395736694 ]
3.166667
95
0
95
0
[ -4.658203125, 75.05859375, 72.158203125, 74.619140625, -90.703125, 2.3474178314208984 ]
[ -5.361328125, 72.333984375, 73.740234375, 79.013671875, -90.3515625, 1.6085790395736694 ]
3.2
96
0
96
0
[ -4.5703125, 75.9375, 73.4765625, 73.388671875, -90.703125, 2.3474178314208984 ]
[ -5.361328125, 72.24609375, 73.740234375, 77.958984375, -90.3515625, 1.6085790395736694 ]
3.233333
97
0
97
0
[ -4.306640625, 77.16796875, 75.146484375, 72.158203125, -90.703125, 2.3474178314208984 ]
[ -5.361328125, 72.24609375, 73.828125, 77.080078125, -90.3515625, 1.6085790395736694 ]
3.266667
98
0
98
0
[ -3.955078125, 78.837890625, 77.16796875, 70.83984375, -90.791015625, 2.3474178314208984 ]
[ -5.361328125, 72.24609375, 74.1796875, 75.9375, -90.3515625, 1.6085790395736694 ]
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": 15641,
    "total_tasks": 1,
    "total_videos": 150,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:50"
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    "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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            "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
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.topcamera": {
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                "has_audio": false
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        "observation.images.wristcamera": {
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            "shape": [
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            "names": [
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        "observation.images.frontcamera": {
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            "names": [
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                "channels"
            ],
            "info": {
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        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        "index": {
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            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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