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Datasets:
bjb7
/
so101_pen_mug_10_9

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
12.7
frame_index
int64
0
380
episode_index
int64
0
9
index
int64
0
2.99k
task_index
int64
0
0
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71
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[ -32.51953125, 125.15625, 129.462890625, -10.810546875, 89.033203125, 2.9473683834075928 ]
[ -28.564453125, 122.34375, 130.60546875, -9.052734375, 92.021484375, 7.293127536773682 ]
2.4
72
0
72
0
[ -33.134765625, 124.453125, 129.462890625, -10.810546875, 89.033203125, 2.9473683834075928 ]
[ -29.794921875, 122.34375, 130.60546875, -9.052734375, 91.23046875, 7.293127536773682 ]
2.433333
73
0
73
0
[ -33.486328125, 123.486328125, 129.55078125, -10.810546875, 89.033203125, 2.9473683834075928 ]
[ -30.76171875, 122.34375, 130.60546875, -9.052734375, 90.615234375, 7.293127536773682 ]
2.466667
74
0
74
0
[ -34.013671875, 122.255859375, 129.55078125, -10.810546875, 89.033203125, 2.9473683834075928 ]
[ -31.552734375, 122.34375, 130.60546875, -9.052734375, 90.263671875, 7.293127536773682 ]
2.5
75
0
75
0
[ -34.8046875, 121.201171875, 129.55078125, -10.810546875, 89.033203125, 2.9473683834075928 ]
[ -32.080078125, 122.34375, 130.60546875, -9.052734375, 90, 7.293127536773682 ]
2.533333
76
0
76
0
[ -35.859375, 120.05859375, 129.55078125, -10.810546875, 89.033203125, 2.9473683834075928 ]
[ -32.6953125, 121.81640625, 130.60546875, -9.052734375, 89.82421875, 7.293127536773682 ]
2.566667
77
0
77
0
[ -36.9140625, 119.091796875, 129.55078125, -10.810546875, 88.9453125, 2.9473683834075928 ]
[ -33.22265625, 121.11328125, 130.60546875, -9.052734375, 89.6484375, 7.293127536773682 ]
2.6
78
0
78
0
[ -37.6171875, 118.212890625, 129.55078125, -10.810546875, 88.9453125, 2.9473683834075928 ]
[ -34.1015625, 120.146484375, 130.60546875, -9.052734375, 89.560546875, 7.293127536773682 ]
2.633333
79
0
79
0
[ -38.056640625, 117.333984375, 129.375, -10.810546875, 88.9453125, 2.9473683834075928 ]
[ -34.892578125, 119.091796875, 130.60546875, -9.052734375, 89.47265625, 7.293127536773682 ]
2.666667
80
0
80
0
[ -38.49609375, 116.630859375, 129.375, -10.810546875, 88.9453125, 2.9473683834075928 ]
[ -35.771484375, 118.037109375, 130.60546875, -9.052734375, 89.47265625, 7.293127536773682 ]
2.7
81
0
81
0
[ -38.671875, 116.103515625, 129.375, -10.810546875, 88.9453125, 2.9473683834075928 ]
[ -36.5625, 117.158203125, 130.60546875, -9.052734375, 89.47265625, 7.293127536773682 ]
2.733333
82
0
82
0
[ -38.671875, 115.400390625, 129.375, -10.810546875, 88.9453125, 2.9473683834075928 ]
[ -37.177734375, 116.279296875, 130.60546875, -9.052734375, 89.47265625, 7.293127536773682 ]
2.766667
83
0
83
0
[ -38.671875, 114.873046875, 129.462890625, -10.810546875, 88.9453125, 2.9473683834075928 ]
[ -37.6171875, 115.6640625, 130.60546875, -9.052734375, 89.47265625, 7.293127536773682 ]
2.8
84
0
84
0
[ -38.671875, 114.43359375, 129.462890625, -10.810546875, 88.9453125, 2.9473683834075928 ]
[ -37.880859375, 114.9609375, 130.60546875, -9.052734375, 89.47265625, 7.293127536773682 ]
2.833333
85
0
85
0
[ -38.671875, 113.90625, 129.55078125, -10.810546875, 88.9453125, 2.9473683834075928 ]
[ -38.056640625, 114.345703125, 130.60546875, -9.052734375, 89.47265625, 7.293127536773682 ]
2.866667
86
0
86
0
[ -38.84765625, 113.5546875, 129.638671875, -10.810546875, 88.9453125, 2.9473683834075928 ]
[ -38.14453125, 113.818359375, 130.60546875, -9.052734375, 89.47265625, 7.293127536773682 ]
2.9
87
0
87
0
[ -38.935546875, 113.466796875, 129.990234375, -10.810546875, 88.9453125, 3.0175437927246094 ]
[ -38.232421875, 113.291015625, 130.693359375, -9.052734375, 89.47265625, 7.293127536773682 ]
2.933333
88
0
88
0
[ -38.84765625, 113.466796875, 130.517578125, -10.810546875, 88.9453125, 3.0175437927246094 ]
[ -38.232421875, 112.939453125, 130.78125, -9.052734375, 89.47265625, 7.293127536773682 ]
2.966667
89
0
89
0
[ -38.759765625, 113.466796875, 131.220703125, -10.810546875, 88.9453125, 3.087719440460205 ]
[ -38.3203125, 112.67578125, 130.78125, -9.052734375, 89.47265625, 7.293127536773682 ]
3
90
0
90
0
[ -38.671875, 113.642578125, 131.923828125, -10.810546875, 88.9453125, 3.087719440460205 ]
[ -38.3203125, 112.587890625, 131.220703125, -9.052734375, 89.47265625, 7.293127536773682 ]
3.033333
91
0
91
0
[ -38.583984375, 113.90625, 132.71484375, -10.810546875, 88.9453125, 3.1578946113586426 ]
[ -38.3203125, 112.587890625, 131.923828125, -9.052734375, 89.47265625, 7.293127536773682 ]
3.066667
92
0
92
0
[ -38.49609375, 114.43359375, 133.59375, -10.810546875, 88.41796875, 3.1578946113586426 ]
[ -38.3203125, 112.587890625, 132.626953125, -9.052734375, 89.47265625, 7.293127536773682 ]
3.1
93
0
93
0
[ -38.408203125, 115.3125, 134.560546875, -10.810546875, 88.2421875, 3.1578946113586426 ]
[ -38.3203125, 112.587890625, 133.505859375, -9.052734375, 89.47265625, 7.293127536773682 ]
3.133333
94
0
94
0
[ -38.14453125, 116.54296875, 135.615234375, -10.810546875, 88.154296875, 3.3684208393096924 ]
[ -38.3203125, 112.587890625, 134.296875, -9.052734375, 89.296875, 7.293127536773682 ]
3.166667
95
0
95
0
[ -37.79296875, 117.7734375, 136.669921875, -10.810546875, 88.154296875, 3.9298243522644043 ]
[ -38.3203125, 112.587890625, 135.087890625, -9.052734375, 89.033203125, 7.293127536773682 ]
3.2
96
0
96
0
[ -37.44140625, 118.828125, 137.63671875, -10.810546875, 88.154296875, 4.982456207275391 ]
[ -38.3203125, 112.67578125, 136.142578125, -9.052734375, 88.857421875, 7.293127536773682 ]
3.233333
97
0
97
0
[ -37.353515625, 119.619140625, 138.603515625, -10.810546875, 88.154296875, 6.526316165924072 ]
[ -38.3203125, 113.02734375, 137.28515625, -9.052734375, 88.857421875, 7.293127536773682 ]
3.266667
98
0
98
0
[ -37.353515625, 120.41015625, 139.39453125, -10.810546875, 88.154296875, 8.35087776184082 ]
[ -38.232421875, 113.5546875, 138.33984375, -9.052734375, 88.857421875, 7.363253593444824 ]
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": 2988,
    "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"
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            "info": {
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                "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": {
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            "shape": [
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                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": [
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            ],
            "names": null
        },
        "index": {
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                1
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            "names": null
        },
        "task_index": {
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            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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Size of downloaded dataset files:
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Number of rows:
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