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Datasets:
NiryoRobotics
/
niryo_bag_folding_part_16

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
Libraries:
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Dask
License:
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action
list
observation.state
list
timestamp
float32
0
50.1
frame_index
int64
0
1k
episode_index
int64
0
9
index
int64
0
7.03k
task_index
int64
0
0
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[ -27.167325973510742, -53.993995666503906, -45.77777862548828, -1.3206162452697754, 6.321838855743408, 3.125, 98.90410614013672 ]
2.55
51
0
51
0
[ -27.1146240234375, -53.993995666503906, -45.77777862548828, -1.3206162452697754, 6.130268096923828, 3.076171875, 99.08676147460938 ]
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2.6
52
0
52
0
[ -27.1146240234375, -53.993995666503906, -45.77777862548828, -1.3206162452697754, 6.130268096923828, 3.076171875, 99.08676147460938 ]
[ -27.167325973510742, -53.993995666503906, -45.77777862548828, -1.3206162452697754, 6.321838855743408, 3.125, 98.90410614013672 ]
2.65
53
0
53
0
[ -27.1146240234375, -53.993995666503906, -45.77777862548828, -1.3206162452697754, 6.130268096923828, 3.076171875, 99.08676147460938 ]
[ -27.167325973510742, -53.993995666503906, -45.77777862548828, -1.3206162452697754, 6.321838855743408, 3.125, 98.90410614013672 ]
2.7
54
0
54
0
[ -27.1146240234375, -53.993995666503906, -45.77777862548828, -1.3206162452697754, 6.130268096923828, 3.076171875, 99.08676147460938 ]
[ -27.167325973510742, -53.993995666503906, -45.77777862548828, -1.3206162452697754, 6.321838855743408, 3.125, 98.90410614013672 ]
2.75
55
0
55
0
[ -27.1146240234375, -53.993995666503906, -45.77777862548828, -1.3206162452697754, 6.130268096923828, 3.076171875, 99.08676147460938 ]
[ -27.167325973510742, -53.993995666503906, -45.77777862548828, -1.3206162452697754, 6.321838855743408, 3.125, 98.90410614013672 ]
2.8
56
0
56
0
[ -27.1146240234375, -53.993995666503906, -45.77777862548828, -1.3206162452697754, 6.066411018371582, 3.076171875, 99.08676147460938 ]
[ -27.167325973510742, -53.993995666503906, -45.77777862548828, -1.3206162452697754, 6.321838855743408, 3.125, 98.90410614013672 ]
2.85
57
0
57
0
[ -27.1146240234375, -53.993995666503906, -45.77777862548828, -1.3206162452697754, 6.130268096923828, 3.076171875, 99.08676147460938 ]
[ -27.167325973510742, -53.993995666503906, -45.77777862548828, -1.2472487688064575, 6.321838855743408, 3.125, 98.90410614013672 ]
2.9
58
0
58
0
[ -27.1146240234375, -53.993995666503906, -45.77777862548828, -1.3206162452697754, 6.130268096923828, 3.076171875, 99.08676147460938 ]
[ -27.167325973510742, -53.993995666503906, -45.77777862548828, -1.3206162452697754, 6.321838855743408, 3.125, 98.90410614013672 ]
2.95
59
0
59
0
[ -27.1146240234375, -53.993995666503906, -45.77777862548828, -1.3206162452697754, 6.066411018371582, 3.076171875, 99.08676147460938 ]
[ -27.167325973510742, -53.993995666503906, -45.77777862548828, -1.3206162452697754, 6.321838855743408, 3.125, 98.90410614013672 ]
3
60
0
60
0
[ -27.1146240234375, -53.993995666503906, -45.77777862548828, -1.3206162452697754, 6.130268096923828, 3.076171875, 99.08676147460938 ]
[ -27.167325973510742, -53.993995666503906, -45.77777862548828, -1.3206162452697754, 6.321838855743408, 3.125, 98.90410614013672 ]
3.05
61
0
61
0
[ -27.1146240234375, -53.993995666503906, -45.77777862548828, -1.3206162452697754, 6.130268096923828, 3.076171875, 99.08676147460938 ]
[ -27.167325973510742, -53.993995666503906, -45.77777862548828, -1.2472487688064575, 6.321838855743408, 3.125, 98.90410614013672 ]
3.1
62
0
62
0
[ -27.1146240234375, -53.993995666503906, -45.77777862548828, -1.3206162452697754, 6.066411018371582, 3.076171875, 99.08676147460938 ]
[ -27.167325973510742, -53.993995666503906, -45.77777862548828, -1.3206162452697754, 6.321838855743408, 3.125, 98.90410614013672 ]
3.15
63
0
63
0
[ -27.1146240234375, -53.993995666503906, -45.77777862548828, -1.3206162452697754, 6.130268096923828, 3.076171875, 99.08676147460938 ]
[ -27.167325973510742, -53.993995666503906, -45.77777862548828, -1.3206162452697754, 6.321838855743408, 3.125, 98.90410614013672 ]
3.2
64
0
64
0
[ -27.1146240234375, -53.993995666503906, -45.77777862548828, -1.3206162452697754, 6.066411018371582, 3.076171875, 99.08676147460938 ]
[ -27.167325973510742, -53.993995666503906, -45.77777862548828, -1.3206162452697754, 6.321838855743408, 3.125, 98.90410614013672 ]
3.25
65
0
65
0
[ -27.1146240234375, -53.993995666503906, -45.77777862548828, -1.3206162452697754, 6.130268096923828, 3.076171875, 99.08676147460938 ]
[ -27.167325973510742, -53.993995666503906, -45.77777862548828, -1.3206162452697754, 6.321838855743408, 3.125, 98.90410614013672 ]
3.3
66
0
66
0
[ -27.1146240234375, -53.993995666503906, -45.77777862548828, -1.3206162452697754, 6.130268096923828, 3.076171875, 99.08676147460938 ]
[ -27.167325973510742, -53.993995666503906, -45.77777862548828, -1.3206162452697754, 6.321838855743408, 3.125, 98.90410614013672 ]
3.35
67
0
67
0
[ -27.1146240234375, -53.993995666503906, -45.77777862548828, -1.3206162452697754, 6.066411018371582, 3.076171875, 99.08676147460938 ]
[ -27.167325973510742, -53.993995666503906, -45.77777862548828, -1.3206162452697754, 6.321838855743408, 3.125, 98.90410614013672 ]
3.4
68
0
68
0
[ -27.1146240234375, -53.993995666503906, -45.77777862548828, -1.3206162452697754, 6.130268096923828, 3.076171875, 99.08676147460938 ]
[ -27.167325973510742, -53.993995666503906, -45.77777862548828, -1.3206162452697754, 6.321838855743408, 3.125, 98.90410614013672 ]
3.45
69
0
69
0
[ -27.1146240234375, -54.114112854003906, -45.77777862548828, -1.3206162452697754, 6.130268096923828, 3.076171875, 99.08676147460938 ]
[ -27.167325973510742, -53.993995666503906, -45.77777862548828, -1.3206162452697754, 6.321838855743408, 3.125, 98.90410614013672 ]
3.5
70
0
70
0
[ -27.1146240234375, -54.23423385620117, -45.77777862548828, -1.3206162452697754, 6.194125175476074, 2.9296875, 99.08676147460938 ]
[ -27.167325973510742, -53.993995666503906, -45.77777862548828, -1.3206162452697754, 6.321838855743408, 3.125, 98.90410614013672 ]
3.55
71
0
71
0
[ -26.95652198791504, -54.5945930480957, -45.44444274902344, -1.2472487688064575, 6.321838855743408, 3.076171875, 99.08676147460938 ]
[ -27.167325973510742, -54.23423385620117, -45.77777862548828, -1.3206162452697754, 6.321838855743408, 3.076171875, 98.90410614013672 ]
3.6
72
0
72
0
[ -26.007905960083008, -56.03603744506836, -44, -1.2472487688064575, 6.4495530128479, 3.173828125, 99.08676147460938 ]
[ -27.1146240234375, -54.35435485839844, -45.77777862548828, -1.2472487688064575, 6.321838855743408, 3.076171875, 98.90410614013672 ]
3.65
73
0
73
0
[ -24.584980010986328, -58.31831741333008, -41.55555725097656, -1.3206162452697754, 6.577266693115234, 3.173828125, 99.08676147460938 ]
[ -26.903820037841797, -54.71471405029297, -45.22222137451172, -1.2472487688064575, 6.4495530128479, 3.125, 98.90410614013672 ]
3.7
74
0
74
0
[ -23.267457962036133, -61.321319580078125, -39.11111068725586, -1.3206162452697754, 6.704980850219727, 3.173828125, 99.08676147460938 ]
[ -26.42951202392578, -55.4354362487793, -44.33333206176758, -1.2472487688064575, 6.577266693115234, 3.076171875, 98.90410614013672 ]
3.75
75
0
75
0
[ -21.844532012939453, -64.56456756591797, -37.44444274902344, -1.3206162452697754, 6.768837928771973, 3.173828125, 99.08676147460938 ]
[ -25.744400024414062, -56.39639663696289, -42.88888931274414, -1.2472487688064575, 6.577266693115234, 3.125, 98.90410614013672 ]
3.8
76
0
76
0
[ -20.263504028320312, -68.16816711425781, -36.77777862548828, -1.2472487688064575, 6.768837928771973, 3.173828125, 99.08676147460938 ]
[ -24.84848403930664, -57.597599029541016, -41.11111068725586, -1.3206162452697754, 6.8326945304870605, 3.125, 98.90410614013672 ]
3.85
77
0
77
0
[ -18.102766036987305, -71.65164947509766, -36.77777862548828, -1.2472487688064575, 6.8326945304870605, 3.22265625, 99.08676147460938 ]
[ -23.74176597595215, -59.15916061401367, -39.44444274902344, -1.2472487688064575, 6.8326945304870605, 3.125, 98.90410614013672 ]
3.9
78
0
78
0
[ -15.046113014221191, -74.8948974609375, -36.77777862548828, -1.2472487688064575, 6.8326945304870605, 3.22265625, 99.08676147460938 ]
[ -22.476943969726562, -61.08108139038086, -38.11111068725586, -1.2472487688064575, 6.8326945304870605, 3.125, 98.90410614013672 ]
3.95
79
0
79
0
[ -11.30434799194336, -77.77777862548828, -36.77777862548828, -1.2472487688064575, 6.8326945304870605, 3.22265625, 99.08676147460938 ]
[ -21.159420013427734, -63.12312316894531, -37.22222137451172, -1.2472487688064575, 6.8326945304870605, 3.173828125, 98.90410614013672 ]
4
80
0
80
0
[ -6.403162002563477, -79.69969940185547, -36.77777862548828, -1.17388117313385, 6.8326945304870605, 3.22265625, 99.08676147460938 ]
[ -19.525691986083984, -65.64564514160156, -36.77777862548828, -1.2472487688064575, 6.8326945304870605, 3.173828125, 98.90410614013672 ]
4.05
81
0
81
0
[ -0.5533596873283386, -81.0210189819336, -36.77777862548828, -0.8070433139801025, 6.8326945304870605, 3.22265625, 99.08676147460938 ]
[ -17.73386001586914, -68.28829193115234, -36.66666793823242, -1.2472487688064575, 6.8326945304870605, 3.173828125, 98.90410614013672 ]
4.1
82
0
82
0
[ 6.192358493804932, -81.0210189819336, -36.77777862548828, -0.2934702932834625, 6.8326945304870605, 3.22265625, 99.08676147460938 ]
[ -15.73122501373291, -70.9309310913086, -36.77777862548828, -1.2472487688064575, 6.8326945304870605, 3.173828125, 98.90410614013672 ]
4.15
83
0
83
0
[ 12.885375022888184, -80.42041778564453, -36.77777862548828, 0.2934702932834625, 6.8326945304870605, 3.22265625, 99.08676147460938 ]
[ -13.517786979675293, -73.21321105957031, -36.77777862548828, -0.8070433139801025, 6.8326945304870605, 3.173828125, 98.90410614013672 ]
4.2
84
0
84
0
[ 19.683794021606445, -78.85885620117188, -36.77777862548828, 0.8070433139801025, 6.8326945304870605, 3.22265625, 99.08676147460938 ]
[ -11.04084300994873, -75.25525665283203, -36.77777862548828, -0.2201027125120163, 6.8326945304870605, 3.173828125, 98.90410614013672 ]
4.25
85
0
85
0
[ 26.060606002807617, -77.05706024169922, -36.77777862548828, 1.2472487688064575, 6.896551609039307, 3.22265625, 99.08676147460938 ]
[ -8.458498001098633, -76.93693542480469, -36.77777862548828, 0.36683785915374756, 6.8326945304870605, 3.173828125, 98.90410614013672 ]
4.3
86
0
86
0
[ 31.857707977294922, -75.37537384033203, -36.77777862548828, 1.9075568914413452, 6.896551609039307, 3.22265625, 99.08676147460938 ]
[ -5.559947490692139, -78.37837982177734, -36.77777862548828, 0.8804108500480652, 6.8326945304870605, 3.173828125, 98.90410614013672 ]
4.35
87
0
87
0
[ 36.916996002197266, -73.57357025146484, -36.77777862548828, 2.641232490539551, 6.896551609039307, 3.22265625, 99.08676147460938 ]
[ -2.3978919982910156, -79.57958221435547, -36.77777862548828, 1.3206162452697754, 6.960408687591553, 3.173828125, 98.90410614013672 ]
4.4
88
0
88
0
[ 40.39525604248047, -72.49249267578125, -36.77777862548828, 3.6683785915374756, 6.896551609039307, 3.22265625, 99.08676147460938 ]
[ 0.7641633749008179, -80.42041778564453, -36.77777862548828, 1.9809244871139526, 6.960408687591553, 3.173828125, 98.90410614013672 ]
4.45
89
0
89
0
[ 42.92490005493164, -71.65164947509766, -36.77777862548828, 5.135729789733887, 6.896551609039307, 3.22265625, 99.08676147460938 ]
[ 4.2951250076293945, -81.0210189819336, -36.77777862548828, 2.714600086212158, 6.960408687591553, 3.173828125, 98.90410614013672 ]
4.5
90
0
90
0
[ 44.716732025146484, -71.41141510009766, -36.77777862548828, 6.5297136306762695, 6.896551609039307, 3.22265625, 99.08676147460938 ]
[ 7.984189510345459, -81.50150299072266, -36.77777862548828, 3.8151137828826904, 6.960408687591553, 3.173828125, 98.90410614013672 ]
4.55
91
0
91
0
[ 46.08695602416992, -71.41141510009766, -36.77777862548828, 7.850330352783203, 6.896551609039307, 3.22265625, 99.08676147460938 ]
[ 11.778656005859375, -81.62162017822266, -36.77777862548828, 5.282464981079102, 6.960408687591553, 3.173828125, 98.90410614013672 ]
4.6
92
0
92
0
[ 47.40447998046875, -71.41141510009766, -36.77777862548828, 8.950843811035156, 6.896551609039307, 3.22265625, 99.08676147460938 ]
[ 15.467720985412598, -81.50150299072266, -36.77777862548828, 6.969919204711914, 6.960408687591553, 3.173828125, 98.90410614013672 ]
4.65
93
0
93
0
[ 49.0382080078125, -70.9309310913086, -36.77777862548828, 9.97799015045166, 6.896551609039307, 3.22265625, 99.17808532714844 ]
[ 19.15678596496582, -81.0210189819336, -36.77777862548828, 8.217167854309082, 6.960408687591553, 3.173828125, 98.90410614013672 ]
4.7
94
0
94
0
[ 50.40843200683594, -70.090087890625, -36.77777862548828, 10.271459579467773, 6.896551609039307, 3.22265625, 99.08676147460938 ]
[ 22.476943969726562, -80.30030059814453, -36.77777862548828, 9.17094612121582, 6.960408687591553, 3.173828125, 98.90410614013672 ]
4.75
95
0
95
0
[ 50.93544006347656, -69.48948669433594, -36.77777862548828, 10.124725341796875, 6.896551609039307, 3.22265625, 99.08676147460938 ]
[ 25.797101974487305, -79.33934020996094, -36.77777862548828, 10.198092460632324, 6.960408687591553, 3.173828125, 98.90410614013672 ]
4.8
96
0
96
0
[ 50.98814392089844, -69.0090103149414, -37, 9.611151695251465, 6.896551609039307, 3.22265625, 99.08676147460938 ]
[ 28.959156036376953, -78.01802062988281, -36.77777862548828, 10.418194770812988, 6.960408687591553, 3.173828125, 98.90410614013672 ]
4.85
97
0
97
0
[ 51.198944091796875, -68.28829193115234, -37.66666793823242, 8.87747573852539, 6.896551609039307, 3.173828125, 99.08676147460938 ]
[ 31.91040802001953, -76.45645904541016, -36.88888931274414, 10.344827651977539, 6.960408687591553, 3.173828125, 98.90410614013672 ]
4.9
98
0
98
0
[ 51.56785202026367, -68.28829193115234, -38.44444274902344, 7.776962757110596, 6.896551609039307, 3.22265625, 99.08676147460938 ]
[ 34.650856018066406, -74.53453826904297, -37.22222137451172, 9.75788688659668, 6.960408687591553, 3.173828125, 98.90410614013672 ]
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": 10,
    "total_frames": 7031,
    "total_tasks": 1,
    "total_videos": 30,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 20,
    "splits": {
        "train": "0:10"
    },
    "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": [
                7
            ],
            "names": [
                "base_to_arm.pos",
                "arm_to_elbow.pos",
                "elbow_to_forearm.pos",
                "forearm_to_hand.pos",
                "hand_to_shoulder.pos",
                "shoulder_to_wrist.pos",
                "gripper.pos"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "base_to_arm.pos",
                "arm_to_elbow.pos",
                "elbow_to_forearm.pos",
                "forearm_to_hand.pos",
                "hand_to_shoulder.pos",
                "shoulder_to_wrist.pos",
                "gripper.pos"
            ]
        },
        "observation.images.front": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
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}

Citation

BibTeX:

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