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Datasets:
ahad-j
/
rack_test_tube_top_view_1

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
lab_automation
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
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1
Dataset Viewer
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action
sequence
observation.state
sequence
timestamp
float32
0
19.9
frame_index
int64
0
597
episode_index
int64
0
9
index
int64
0
5.98k
task_index
int64
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[ -9.931640625, 197.75390625, 178.76953125, 62.05078125, -3.33984375, 0.7846556901931763 ]
[ -10.107421875, 187.91015625, 150.908203125, 62.578125, -3.8671875, 0.8857395648956299 ]
2.333333
70
0
70
0
[ -9.580078125, 197.75390625, 178.41796875, 61.69921875, -2.98828125, 0.7846556901931763 ]
[ -10.107421875, 187.91015625, 150.908203125, 62.578125, -3.8671875, 0.8857395648956299 ]
2.366667
71
0
71
0
[ -8.701171875, 197.75390625, 177.1875, 60.29296875, -0.87890625, 0.7846556901931763 ]
[ -10.107421875, 187.91015625, 150.908203125, 62.578125, -3.8671875, 0.8857395648956299 ]
2.4
72
0
72
0
[ -8.173828125, 197.666015625, 172.529296875, 57.3046875, 1.845703125, 1.394943356513977 ]
[ -10.107421875, 187.91015625, 150.908203125, 62.578125, -3.076171875, 0.8857395648956299 ]
2.433333
73
0
73
0
[ -8.173828125, 196.875, 165.41015625, 55.37109375, 2.900390625, 2.2667829990386963 ]
[ -9.580078125, 187.91015625, 150.908203125, 62.05078125, -1.58203125, 0.8857395648956299 ]
2.466667
74
0
74
0
[ -9.4921875, 194.765625, 159.609375, 54.580078125, 2.548828125, 5.92850923538208 ]
[ -8.876953125, 187.91015625, 150.908203125, 60.64453125, 0, 0.8857395648956299 ]
2.5
75
0
75
0
[ -11.953125, 190.458984375, 154.775390625, 54.66796875, 3.1640625, 12.467306137084961 ]
[ -8.349609375, 187.91015625, 150.908203125, 58.798828125, 0.87890625, 1.5057573318481445 ]
2.533333
76
0
76
0
[ -13.798828125, 184.21875, 151.259765625, 54.580078125, 3.8671875, 20.313861846923828 ]
[ -8.7890625, 187.91015625, 150.908203125, 57.568359375, 1.40625, 2.922940731048584 ]
2.566667
77
0
77
0
[ -14.23828125, 176.748046875, 147.83203125, 53.525390625, 6.064453125, 26.503923416137695 ]
[ -10.283203125, 187.91015625, 150.908203125, 57.041015625, 2.109375, 5.757307052612305 ]
2.6
78
0
78
0
[ -13.798828125, 168.22265625, 142.998046875, 51.943359375, 9.84375, 31.03748893737793 ]
[ -12.041015625, 187.55859375, 150.908203125, 56.513671875, 3.1640625, 10.008857727050781 ]
2.633333
79
0
79
0
[ -13.095703125, 159.08203125, 137.021484375, 51.15234375, 14.0625, 32.17087936401367 ]
[ -13.18359375, 186.416015625, 150.732421875, 55.72265625, 5.09765625, 14.968998908996582 ]
2.666667
80
0
80
0
[ -12.12890625, 150.1171875, 131.30859375, 51.064453125, 17.2265625, 31.47340965270996 ]
[ -13.18359375, 182.373046875, 149.765625, 54.4921875, 7.822265625, 20.10628890991211 ]
2.7
81
0
81
0
[ -11.689453125, 141.064453125, 125.595703125, 51.240234375, 19.3359375, 30.60157012939453 ]
[ -12.744140625, 176.30859375, 147.48046875, 53.61328125, 10.986328125, 24.446413040161133 ]
2.733333
82
0
82
0
[ -11.513671875, 132.5390625, 120.76171875, 52.3828125, 20.21484375, 29.904096603393555 ]
[ -12.568359375, 168.92578125, 143.701171875, 53.173828125, 14.0625, 27.280780792236328 ]
2.766667
83
0
83
0
[ -11.513671875, 124.8046875, 116.103515625, 54.4921875, 20.56640625, 29.468177795410156 ]
[ -12.3046875, 162.0703125, 139.04296875, 52.998046875, 16.083984375, 28.16651725769043 ]
2.8
84
0
84
0
[ -11.337890625, 117.7734375, 111.884765625, 57.48046875, 20.56640625, 29.20662498474121 ]
[ -12.216796875, 155.0390625, 133.9453125, 53.0859375, 17.40234375, 28.16651725769043 ]
2.833333
85
0
85
0
[ -11.25, 112.1484375, 107.666015625, 61.611328125, 20.56640625, 29.20662498474121 ]
[ -12.216796875, 146.865234375, 128.408203125, 53.876953125, 18.369140625, 28.432241439819336 ]
2.866667
86
0
86
0
[ -11.07421875, 108.369140625, 104.0625, 66.09375, 20.56640625, 29.20662498474121 ]
[ -12.216796875, 137.8125, 123.134765625, 55.37109375, 18.984375, 28.60938835144043 ]
2.9
87
0
87
0
[ -10.986328125, 105.732421875, 101.513671875, 69.345703125, 20.56640625, 29.20662498474121 ]
[ -11.953125, 129.375, 118.4765625, 57.65625, 19.423828125, 28.697961807250977 ]
2.933333
88
0
88
0
[ -10.810546875, 103.623046875, 99.66796875, 71.630859375, 20.56640625, 29.20662498474121 ]
[ -11.42578125, 122.080078125, 114.169921875, 60.64453125, 19.6875, 28.87510871887207 ]
2.966667
89
0
89
0
[ -10.107421875, 101.25, 98.525390625, 71.982421875, 20.56640625, 29.20662498474121 ]
[ -10.986328125, 116.015625, 110.478515625, 63.984375, 19.86328125, 28.87510871887207 ]
3
90
0
90
0
[ -8.7890625, 99.140625, 97.822265625, 71.89453125, 20.56640625, 29.20662498474121 ]
[ -10.72265625, 110.830078125, 107.138671875, 66.97265625, 20.0390625, 28.87510871887207 ]
3.033333
91
0
91
0
[ -7.734375, 97.294921875, 97.119140625, 71.19140625, 20.56640625, 29.20662498474121 ]
[ -10.72265625, 106.787109375, 104.765625, 68.90625, 20.0390625, 28.87510871887207 ]
3.066667
92
0
92
0
[ -6.767578125, 95.361328125, 96.767578125, 70.48828125, 20.56640625, 29.20662498474121 ]
[ -10.634765625, 103.359375, 103.0078125, 69.78515625, 20.0390625, 28.87510871887207 ]
3.1
93
0
93
0
[ -5.888671875, 93.603515625, 96.591796875, 69.609375, 20.56640625, 29.20662498474121 ]
[ -9.66796875, 100.634765625, 101.77734375, 70.048828125, 20.0390625, 28.87510871887207 ]
3.133333
94
0
94
0
[ -5.009765625, 91.7578125, 96.064453125, 68.73046875, 20.478515625, 29.20662498474121 ]
[ -8.4375, 98.173828125, 100.8984375, 70.048828125, 20.0390625, 28.87510871887207 ]
3.166667
95
0
95
0
[ -4.306640625, 90, 95.44921875, 68.291015625, 20.21484375, 29.20662498474121 ]
[ -6.943359375, 95.888671875, 100.107421875, 69.9609375, 20.0390625, 28.87510871887207 ]
3.2
96
0
96
0
[ -3.779296875, 88.41796875, 94.482421875, 67.939453125, 20.21484375, 29.20662498474121 ]
[ -6.064453125, 93.8671875, 99.580078125, 69.609375, 20.0390625, 28.87510871887207 ]
3.233333
97
0
97
0
[ -3.1640625, 86.8359375, 93.33984375, 67.763671875, 20.302734375, 29.20662498474121 ]
[ -5.44921875, 91.845703125, 98.876953125, 69.2578125, 20.0390625, 28.87510871887207 ]
3.266667
98
0
98
0
[ -2.8125, 85.4296875, 92.021484375, 67.67578125, 20.390625, 29.20662498474121 ]
[ -5.2734375, 89.912109375, 98.0859375, 68.994140625, 20.0390625, 28.87510871887207 ]
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": "so101",
    "total_episodes": 10,
    "total_frames": 5977,
    "total_tasks": 1,
    "total_videos": 10,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "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": [
                6
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.eye-in-hand": {
            "dtype": "video",
            "shape": [
                1080,
                1920,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 1080,
                "video.width": 1920,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

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