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Datasets:
NiryoRobotics
/
niryo_bag_folding_part_14

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
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Dask
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action
list
observation.state
list
timestamp
float32
0
43.3
frame_index
int64
0
866
episode_index
int64
0
2
index
int64
0
1.77k
task_index
int64
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2.9
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0
58
0
[ 44.40052795410156, -78.9789810180664, -37.55555725097656, 11.885546684265137, 0.06385695934295654, -3.466796875, 100 ]
[ 30.487483978271484, -79.0990982055664, -37.55555725097656, 15.99413013458252, 0, -3.515625, 100 ]
2.95
59
0
59
0
[ 45.296443939208984, -78.9789810180664, -37.55555725097656, 9.831254959106445, 0.12771391868591309, -3.515625, 100 ]
[ 32.80632400512695, -78.9789810180664, -37.55555725097656, 13.939838409423828, 0, -3.515625, 100 ]
3
60
0
60
0
[ 46.297760009765625, -78.9789810180664, -37.66666793823242, 7.99706506729126, 0.19157087802886963, -3.515625, 100 ]
[ 34.96706008911133, -78.9789810180664, -37.55555725097656, 11.738811492919922, 0.12771391868591309, -3.515625, 100 ]
3.05
61
0
61
0
[ 47.299076080322266, -78.85885620117188, -37.66666793823242, 6.089508533477783, 0.19157087802886963, -3.466796875, 100 ]
[ 37.022396087646484, -78.9789810180664, -37.66666793823242, 9.611151695251465, 0.19157087802886963, -3.515625, 100 ]
3.1
62
0
62
0
[ 48.03689193725586, -78.85885620117188, -37.66666793823242, 3.8151137828826904, 0.19157087802886963, -3.466796875, 100 ]
[ 38.97233200073242, -78.9789810180664, -37.66666793823242, 7.776962757110596, 0.19157087802886963, -3.564453125, 100 ]
3.15
63
0
63
0
[ 48.511199951171875, -78.73873901367188, -37.77777862548828, 1.17388117313385, 0.19157087802886963, -3.466796875, 100 ]
[ 40.92226791381836, -78.9789810180664, -37.66666793823242, 5.869405746459961, 0.19157087802886963, -3.515625, 100 ]
3.2
64
0
64
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[ 42.503292083740234, -78.9789810180664, -37.77777862548828, 3.6683785915374756, 0.19157087802886963, -3.515625, 100 ]
3.25
65
0
65
0
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[ 44.084320068359375, -78.73873901367188, -37.77777862548828, 1.1005135774612427, 0.19157087802886963, -3.515625, 100 ]
3.3
66
0
66
0
[ 50.46113204956055, -78.85885620117188, -37.77777862548828, -3.5216434001922607, 0.19157087802886963, -3.515625, 100 ]
[ 45.50724792480469, -78.73873901367188, -37.77777862548828, -1.5407190322875977, 0.19157087802886963, -3.515625, 100 ]
3.35
67
0
67
0
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[ 46.82476806640625, -78.9789810180664, -37.77777862548828, -3.3015406131744385, 0.19157087802886963, -3.515625, 100 ]
3.4
68
0
68
0
[ 53.25428009033203, -78.85885620117188, -37.77777862548828, -2.861335277557373, 0.19157087802886963, -3.466796875, 100 ]
[ 48.08959197998047, -78.9789810180664, -37.77777862548828, -3.6683785915374756, 0.19157087802886963, -3.515625, 100 ]
3.45
69
0
69
0
[ 55.046112060546875, -78.85885620117188, -37.77777862548828, -1.9075568914413452, 0.12771391868591309, -3.466796875, 100 ]
[ 49.35441207885742, -78.9789810180664, -37.77777862548828, -3.595010995864868, 0.19157087802886963, -3.515625, 100 ]
3.5
70
0
70
0
[ 56.83794403076172, -78.61862182617188, -37.77777862548828, -0.586940586566925, 0.12771391868591309, -3.515625, 100 ]
[ 50.61923599243164, -78.9789810180664, -37.77777862548828, -3.0814380645751953, 0.19157087802886963, -3.515625, 100 ]
3.55
71
0
71
0
[ 58.893280029296875, -77.89789581298828, -38.22222137451172, 0.5135729908943176, 0.12771391868591309, -3.466796875, 100 ]
[ 52.04216003417969, -78.9789810180664, -37.77777862548828, -1.9809244871139526, 0.19157087802886963, -3.515625, 100 ]
3.6
72
0
72
0
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[ 53.57048797607422, -78.61862182617188, -37.88888931274414, -0.5135729908943176, 0.19157087802886963, -3.515625, 100 ]
3.65
73
0
73
0
[ 63.0566520690918, -77.29729461669922, -39, 1.9809244871139526, 0.12771391868591309, -3.466796875, 100 ]
[ 54.993412017822266, -78.13813781738281, -38.33333206176758, 0.586940586566925, 0.19157087802886963, -3.515625, 100 ]
3.7
74
0
74
0
[ 64.79578399658203, -76.45645904541016, -40.44444274902344, 2.2010271549224854, 0.12771391868591309, -3.515625, 100 ]
[ 56.627140045166016, -77.65766143798828, -38.77777862548828, 1.3939838409423828, 0.19157087802886963, -3.515625, 100 ]
3.75
75
0
75
0
[ 65.90250396728516, -75.1351318359375, -42.22222137451172, 2.0542919635772705, 0.19157087802886963, -3.466796875, 100 ]
[ 58.31357192993164, -77.17717742919922, -39.22222137451172, 1.9809244871139526, 0.19157087802886963, -3.515625, 100 ]
3.8
76
0
76
0
[ 66.48221588134766, -73.45345306396484, -43, 1.9809244871139526, 0.19157087802886963, -3.466796875, 100 ]
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3.85
77
0
77
0
[ 66.64031982421875, -71.29129028320312, -43, 2.2010271549224854, 0.19157087802886963, -3.466796875, 100 ]
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3.9
78
0
78
0
[ 66.79841613769531, -68.64865112304688, -43, 2.2743947505950928, 0.19157087802886963, -3.466796875, 100 ]
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3.95
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0
79
0
[ 67.06192016601562, -65.76576232910156, -43, 2.494497537612915, 0.19157087802886963, -3.90625, 100 ]
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4
80
0
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4.05
81
0
81
0
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4.1
82
0
82
0
[ 68.59024810791016, -56.87687683105469, -43, 3.6683785915374756, 1.1494252681732178, -2.783203125, 100 ]
[ 66.74571990966797, -67.56756591796875, -43, 2.714600086212158, 0.5108556747436523, -3.466796875, 100 ]
4.15
83
0
83
0
[ 68.90645599365234, -54.114112854003906, -43, 4.035216331481934, 1.532567024230957, -1.220703125, 100 ]
[ 67.5362319946289, -65.40540313720703, -43, 3.1548056602478027, 0.9578543901443481, -3.369140625, 100 ]
4.2
84
0
84
0
[ 69.11725616455078, -51.231231689453125, -43, 4.255319118499756, 1.5964239835739136, 0.9765625, 100 ]
[ 68.16864013671875, -63.00300216674805, -43, 3.5216434001922607, 1.404853105545044, -2.734375, 100 ]
4.25
85
0
85
0
[ 69.43346405029297, -48.82883071899414, -43, 4.328686714172363, 1.6602809429168701, 2.9296875, 100 ]
[ 68.6956558227539, -60.84083938598633, -43, 3.8151137828826904, 1.7879948616027832, -1.416015625, 100 ]
4.3
86
0
86
0
[ 69.90777587890625, -46.186187744140625, -43, 4.328686714172363, 1.9157087802886963, 4.8828125, 100 ]
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4.35
87
0
87
0
[ 70.27667999267578, -43.54354476928711, -43, 4.328686714172363, 2.1072797775268555, 7.03125, 100 ]
[ 69.48616790771484, -56.03603744506836, -43, 4.108583927154541, 1.7879948616027832, 2.734375, 100 ]
4.4
88
0
88
0
[ 70.48748016357422, -40.66065979003906, -43, 4.255319118499756, 2.4904215335845947, 8.984375, 100 ]
[ 69.90777587890625, -53.63363265991211, -43, 4.181951522827148, 2.0434226989746094, 4.6875, 100 ]
4.45
89
0
89
0
[ 70.59288787841797, -37.53753662109375, -43, 4.328686714172363, 2.681992292404175, 10.400390625, 100 ]
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4.5
90
0
90
0
[ 70.75099182128906, -34.65465545654297, -43, 4.328686714172363, 3.12899112701416, 11.376953125, 100 ]
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4.55
91
0
91
0
[ 71.01449584960938, -31.891891479492188, -43, 4.328686714172363, 3.5759897232055664, 12.01171875, 100 ]
[ 70.69828796386719, -46.186187744140625, -43, 4.181951522827148, 2.873563289642334, 10.400390625, 100 ]
4.6
92
0
92
0
[ 71.33069610595703, -29.12912940979004, -43, 4.255319118499756, 4.150702476501465, 12.40234375, 100 ]
[ 70.85639190673828, -43.54354476928711, -43, 4.181951522827148, 3.192847967147827, 11.5234375, 100 ]
4.65
93
0
93
0
[ 71.75230407714844, -26.60660743713379, -43, 4.181951522827148, 4.789271831512451, 12.59765625, 100 ]
[ 71.1198959350586, -40.900901794433594, -43, 4.181951522827148, 3.5759897232055664, 12.060546875, 100 ]
4.7
94
0
94
0
[ 72.17391204833984, -23.963964462280273, -43, 4.181951522827148, 5.3001275062561035, 12.841796875, 100 ]
[ 71.43610382080078, -38.25825881958008, -43, 4.181951522827148, 4.406130313873291, 12.40234375, 100 ]
4.75
95
0
95
0
[ 72.75362396240234, -21.561561584472656, -43, 4.035216331481934, 6.066411018371582, 12.451171875, 100 ]
[ 71.80500793457031, -35.61561584472656, -43, 4.181951522827148, 4.916985988616943, 12.548828125, 100 ]
4.8
96
0
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[ 73.43873596191406, -19.639638900756836, -43, 3.8151137828826904, 6.768837928771973, 12.255859375, 100 ]
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4.85
97
0
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[ 74.3873519897461, -18.198198318481445, -43, 3.595010995864868, 7.535121440887451, 11.9140625, 100 ]
[ 72.70092010498047, -30.450450897216797, -43, 4.108583927154541, 6.066411018371582, 12.451171875, 100 ]
4.9
98
0
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[ 75.44136810302734, -16.996997833251953, -43, 3.5216434001922607, 8.045976638793945, 11.71875, 100 ]
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4.95
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": "ned2",
    "total_episodes": 3,
    "total_frames": 1774,
    "total_tasks": 1,
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    "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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                "elbow_to_forearm.pos",
                "forearm_to_hand.pos",
                "hand_to_shoulder.pos",
                "shoulder_to_wrist.pos",
                "gripper.pos"
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                "arm_to_elbow.pos",
                "elbow_to_forearm.pos",
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    }
}

Citation

BibTeX:

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