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Datasets:
EGLima
/
pen_task_no_Depth

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
pen_task
Libraries:
Datasets
Dask
License:
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1
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action
sequence
observation.state
sequence
timestamp
float32
0
25
frame_index
int64
0
749
episode_index
int64
0
99
index
int64
0
41.8k
task_index
int64
0
0
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[ 4.130859375, 185.185546875, 177.099609375, 73.037109375, -82.6171875, 19.90909194946289 ]
2.366667
71
0
71
0
[ 4.21875, 179.82421875, 173.671875, 69.08203125, -82.96875, 19.734344482421875 ]
[ 4.130859375, 184.130859375, 176.748046875, 72.333984375, -82.6171875, 19.72727394104004 ]
2.4
72
0
72
0
[ 4.21875, 178.06640625, 172.08984375, 67.939453125, -82.96875, 20.01897621154785 ]
[ 4.130859375, 183.1640625, 176.1328125, 71.630859375, -82.529296875, 19.72727394104004 ]
2.433333
73
0
73
0
[ 4.21875, 175.78125, 170.33203125, 66.884765625, -82.96875, 19.829221725463867 ]
[ 4.130859375, 182.021484375, 175.693359375, 70.6640625, -82.529296875, 19.72727394104004 ]
2.466667
74
0
74
0
[ 4.04296875, 172.880859375, 168.22265625, 65.56640625, -82.96875, 19.639469146728516 ]
[ 4.130859375, 180.17578125, 175.341796875, 69.873046875, -82.529296875, 19.72727394104004 ]
2.5
75
0
75
0
[ 3.955078125, 169.716796875, 165.9375, 64.3359375, -82.96875, 19.639469146728516 ]
[ 4.130859375, 178.330078125, 174.7265625, 68.90625, -82.44140625, 19.72727394104004 ]
2.533333
76
0
76
0
[ 3.955078125, 166.552734375, 163.30078125, 63.10546875, -82.880859375, 19.639469146728516 ]
[ 4.130859375, 176.1328125, 173.671875, 67.939453125, -82.44140625, 19.72727394104004 ]
2.566667
77
0
77
0
[ 3.955078125, 163.30078125, 160.48828125, 62.314453125, -82.6171875, 19.639469146728516 ]
[ 4.130859375, 173.935546875, 172.265625, 66.796875, -82.44140625, 19.72727394104004 ]
2.6
78
0
78
0
[ 4.04296875, 160.400390625, 157.67578125, 61.787109375, -82.44140625, 19.639469146728516 ]
[ 4.130859375, 171.5625, 170.595703125, 65.830078125, -82.44140625, 19.72727394104004 ]
2.633333
79
0
79
0
[ 4.21875, 157.236328125, 154.51171875, 61.435546875, -82.44140625, 19.639469146728516 ]
[ 4.130859375, 168.75, 168.3984375, 64.951171875, -82.44140625, 19.72727394104004 ]
2.666667
80
0
80
0
[ 4.306640625, 154.16015625, 151.171875, 61.171875, -82.44140625, 19.639469146728516 ]
[ 4.130859375, 165.9375, 166.025390625, 64.248046875, -82.44140625, 19.72727394104004 ]
2.7
81
0
81
0
[ 4.39453125, 150.99609375, 147.65625, 61.083984375, -82.44140625, 19.639469146728516 ]
[ 4.130859375, 163.125, 163.388671875, 63.6328125, -82.44140625, 19.72727394104004 ]
2.733333
82
0
82
0
[ 4.482421875, 147.83203125, 143.876953125, 61.083984375, -82.353515625, 19.639469146728516 ]
[ 4.130859375, 160.13671875, 160.48828125, 63.193359375, -82.44140625, 19.72727394104004 ]
2.766667
83
0
83
0
[ 4.482421875, 144.84375, 140.2734375, 61.083984375, -82.353515625, 19.639469146728516 ]
[ 4.130859375, 156.97265625, 157.412109375, 62.9296875, -82.353515625, 19.72727394104004 ]
2.8
84
0
84
0
[ 4.482421875, 142.03125, 136.93359375, 61.171875, -82.353515625, 19.639469146728516 ]
[ 4.130859375, 153.896484375, 154.16015625, 62.75390625, -82.353515625, 19.72727394104004 ]
2.833333
85
0
85
0
[ 4.482421875, 139.482421875, 133.9453125, 61.171875, -82.353515625, 19.639469146728516 ]
[ 4.130859375, 150.8203125, 150.8203125, 62.75390625, -82.353515625, 19.72727394104004 ]
2.866667
86
0
86
0
[ 4.39453125, 137.021484375, 131.220703125, 61.171875, -82.353515625, 19.639469146728516 ]
[ 4.130859375, 147.65625, 147.3046875, 62.75390625, -82.353515625, 19.72727394104004 ]
2.9
87
0
87
0
[ 4.130859375, 134.384765625, 128.84765625, 61.259765625, -82.265625, 19.639469146728516 ]
[ 4.130859375, 144.66796875, 144.140625, 62.75390625, -82.353515625, 19.72727394104004 ]
2.933333
88
0
88
0
[ 3.603515625, 131.748046875, 126.474609375, 61.259765625, -81.474609375, 19.639469146728516 ]
[ 4.130859375, 141.6796875, 141.15234375, 62.75390625, -82.353515625, 19.72727394104004 ]
2.966667
89
0
89
0
[ 3.076171875, 129.19921875, 124.541015625, 61.259765625, -80.5078125, 19.639469146728516 ]
[ 4.130859375, 138.955078125, 138.33984375, 62.75390625, -82.353515625, 19.72727394104004 ]
3
90
0
90
0
[ 2.373046875, 126.9140625, 122.607421875, 61.259765625, -79.189453125, 19.639469146728516 ]
[ 4.04296875, 136.23046875, 135.703125, 62.75390625, -82.08984375, 19.72727394104004 ]
3.033333
91
0
91
0
[ 1.494140625, 124.8046875, 120.673828125, 61.259765625, -77.783203125, 19.639469146728516 ]
[ 3.779296875, 133.41796875, 133.2421875, 62.75390625, -81.38671875, 19.72727394104004 ]
3.066667
92
0
92
0
[ 0.615234375, 122.607421875, 118.916015625, 61.259765625, -76.640625, 19.639469146728516 ]
[ 3.251953125, 130.78125, 131.044921875, 62.75390625, -80.595703125, 19.72727394104004 ]
3.1
93
0
93
0
[ -0.087890625, 120.322265625, 117.158203125, 61.34765625, -75.41015625, 19.639469146728516 ]
[ 2.548828125, 128.14453125, 128.935546875, 62.75390625, -79.453125, 19.72727394104004 ]
3.133333
94
0
94
0
[ -0.87890625, 118.125, 115.48828125, 61.5234375, -74.443359375, 19.639469146728516 ]
[ 1.58203125, 125.68359375, 127.001953125, 62.75390625, -78.486328125, 19.72727394104004 ]
3.166667
95
0
95
0
[ -1.58203125, 116.455078125, 114.521484375, 61.611328125, -74.267578125, 19.639469146728516 ]
[ 0.615234375, 123.22265625, 125.068359375, 62.75390625, -77.34375, 19.72727394104004 ]
3.2
96
0
96
0
[ -2.109375, 114.9609375, 114.08203125, 61.171875, -74.8828125, 19.639469146728516 ]
[ -0.263671875, 120.9375, 123.3984375, 62.75390625, -76.2890625, 19.72727394104004 ]
3.233333
97
0
97
0
[ -2.8125, 113.818359375, 113.73046875, 60.46875, -75.673828125, 20.01897621154785 ]
[ -0.966796875, 118.65234375, 121.81640625, 62.75390625, -75.673828125, 19.72727394104004 ]
3.266667
98
0
98
0
[ -3.33984375, 113.203125, 113.466796875, 59.326171875, -76.904296875, 20.01897621154785 ]
[ -1.494140625, 116.630859375, 120.9375, 62.578125, -75.498046875, 19.72727394104004 ]
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": 20242,
    "total_tasks": 1,
    "total_videos": 150,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
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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": [
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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.cam1": {
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                "video.channels": 3,
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        "observation.images.cam2": {
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        "observation.images.cam3": {
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            "names": [
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                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 848,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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