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Datasets:
bjb7
/
so101_pen_mug_10_8

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so101
test
Libraries:
Datasets
Dask
License:
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action
sequence
observation.state
sequence
timestamp
float32
0
13.6
frame_index
int64
0
408
episode_index
int64
0
9
index
int64
0
3.33k
task_index
int64
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0
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0
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[ 49.658203125, 162.0703125, 161.89453125, -7.470703125, 85.341796875, 6.171108245849609 ]
2.4
72
0
72
0
[ 49.833984375, 165.849609375, 160.927734375, -9.228515625, 84.7265625, 0.49122804403305054 ]
[ 49.658203125, 162.7734375, 161.89453125, -7.470703125, 85.341796875, 6.171108245849609 ]
2.433333
73
0
73
0
[ 49.74609375, 166.201171875, 160.927734375, -9.140625, 84.7265625, 0.49122804403305054 ]
[ 49.658203125, 163.4765625, 161.89453125, -7.470703125, 85.341796875, 6.171108245849609 ]
2.466667
74
0
74
0
[ 49.658203125, 166.46484375, 160.927734375, -9.140625, 84.7265625, 0.49122804403305054 ]
[ 49.658203125, 163.916015625, 161.89453125, -7.470703125, 85.341796875, 6.171108245849609 ]
2.5
75
0
75
0
[ 49.5703125, 166.640625, 160.927734375, -9.140625, 84.7265625, 0.49122804403305054 ]
[ 49.658203125, 164.267578125, 161.89453125, -7.470703125, 85.341796875, 6.171108245849609 ]
2.533333
76
0
76
0
[ 49.5703125, 166.640625, 160.927734375, -9.140625, 84.7265625, 0.49122804403305054 ]
[ 49.658203125, 164.70703125, 161.89453125, -7.470703125, 85.341796875, 6.171108245849609 ]
2.566667
77
0
77
0
[ 49.5703125, 166.640625, 160.927734375, -8.96484375, 84.7265625, 0.49122804403305054 ]
[ 49.658203125, 164.970703125, 161.89453125, -7.470703125, 85.341796875, 6.171108245849609 ]
2.6
78
0
78
0
[ 49.5703125, 166.640625, 160.927734375, -8.349609375, 84.7265625, 0.49122804403305054 ]
[ 49.658203125, 165.146484375, 161.89453125, -7.470703125, 85.341796875, 6.171108245849609 ]
2.633333
79
0
79
0
[ 49.5703125, 166.728515625, 160.927734375, -7.20703125, 84.7265625, 0.49122804403305054 ]
[ 49.658203125, 165.146484375, 161.89453125, -7.470703125, 85.341796875, 6.171108245849609 ]
2.666667
80
0
80
0
[ 49.39453125, 166.728515625, 160.83984375, -5.712890625, 84.7265625, 0.49122804403305054 ]
[ 49.658203125, 165.234375, 161.89453125, -7.470703125, 85.341796875, 6.171108245849609 ]
2.7
81
0
81
0
[ 49.306640625, 166.904296875, 160.751953125, -3.8671875, 84.7265625, 0.49122804403305054 ]
[ 49.658203125, 165.322265625, 161.89453125, -7.20703125, 85.341796875, 6.171108245849609 ]
2.733333
82
0
82
0
[ 49.306640625, 167.431640625, 160.48828125, -1.93359375, 84.7265625, 0.49122804403305054 ]
[ 49.658203125, 165.322265625, 161.89453125, -6.416015625, 85.341796875, 6.171108245849609 ]
2.766667
83
0
83
0
[ 49.306640625, 168.3984375, 160.400390625, 0.087890625, 84.7265625, 0.49122804403305054 ]
[ 49.658203125, 165.498046875, 161.89453125, -5.361328125, 85.341796875, 6.171108245849609 ]
2.8
84
0
84
0
[ 49.21875, 169.716796875, 160.400390625, 2.109375, 84.7265625, 0.49122804403305054 ]
[ 49.658203125, 165.673828125, 161.89453125, -3.8671875, 85.341796875, 6.171108245849609 ]
2.833333
85
0
85
0
[ 49.21875, 171.298828125, 160.576171875, 4.21875, 84.7265625, 0.49122804403305054 ]
[ 49.658203125, 166.2890625, 161.89453125, -2.28515625, 85.341796875, 6.171108245849609 ]
2.866667
86
0
86
0
[ 49.21875, 173.056640625, 160.6640625, 6.328125, 84.7265625, 0.49122804403305054 ]
[ 49.658203125, 167.080078125, 161.89453125, -0.52734375, 85.341796875, 6.171108245849609 ]
2.9
87
0
87
0
[ 49.21875, 174.7265625, 160.751953125, 8.525390625, 84.7265625, 0.49122804403305054 ]
[ 49.658203125, 168.310546875, 161.89453125, 1.494140625, 85.341796875, 6.171108245849609 ]
2.933333
88
0
88
0
[ 49.21875, 175.95703125, 160.751953125, 10.634765625, 84.7265625, 0.49122804403305054 ]
[ 49.658203125, 169.541015625, 161.89453125, 3.251953125, 85.341796875, 6.171108245849609 ]
2.966667
89
0
89
0
[ 49.306640625, 177.099609375, 160.6640625, 12.65625, 84.7265625, 0.49122804403305054 ]
[ 49.658203125, 171.03515625, 161.89453125, 5.185546875, 85.341796875, 6.171108245849609 ]
3
90
0
90
0
[ 49.306640625, 178.06640625, 160.576171875, 14.58984375, 84.7265625, 0.49122804403305054 ]
[ 49.658203125, 172.44140625, 161.89453125, 7.294921875, 85.341796875, 6.171108245849609 ]
3.033333
91
0
91
0
[ 49.306640625, 179.033203125, 160.576171875, 16.5234375, 84.7265625, 0.49122804403305054 ]
[ 49.658203125, 173.84765625, 161.89453125, 9.404296875, 85.341796875, 6.171108245849609 ]
3.066667
92
0
92
0
[ 49.306640625, 180, 160.6640625, 18.193359375, 84.7265625, 0.49122804403305054 ]
[ 49.658203125, 175.166015625, 161.89453125, 11.513671875, 85.341796875, 6.171108245849609 ]
3.1
93
0
93
0
[ 49.306640625, 180.966796875, 160.751953125, 19.775390625, 84.7265625, 0.49122804403305054 ]
[ 49.658203125, 176.220703125, 161.89453125, 13.359375, 85.341796875, 6.171108245849609 ]
3.133333
94
0
94
0
[ 49.306640625, 181.7578125, 160.83984375, 21.357421875, 84.7265625, 0.49122804403305054 ]
[ 49.658203125, 177.36328125, 161.89453125, 15.380859375, 85.341796875, 6.171108245849609 ]
3.166667
95
0
95
0
[ 49.306640625, 182.197265625, 160.83984375, 22.763671875, 84.7265625, 0.49122804403305054 ]
[ 49.658203125, 178.41796875, 161.89453125, 17.138671875, 85.341796875, 6.171108245849609 ]
3.2
96
0
96
0
[ 49.306640625, 182.548828125, 160.83984375, 24.2578125, 84.7265625, 0.49122804403305054 ]
[ 49.658203125, 179.384765625, 161.89453125, 18.80859375, 85.341796875, 6.171108245849609 ]
3.233333
97
0
97
0
[ 49.306640625, 182.8125, 160.83984375, 25.576171875, 84.814453125, 0.49122804403305054 ]
[ 49.658203125, 180.263671875, 161.89453125, 20.390625, 85.341796875, 6.171108245849609 ]
3.266667
98
0
98
0
[ 49.306640625, 182.8125, 160.83984375, 26.806640625, 84.814453125, 0.49122804403305054 ]
[ 49.658203125, 180.966796875, 161.89453125, 21.884765625, 85.341796875, 6.171108245849609 ]
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": 3327,
    "total_tasks": 1,
    "total_videos": 20,
    "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.camera_2": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.camera_4": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "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
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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