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Datasets:
bjb7
/
so101_pen_mug_10_7

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so101
test
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Dask
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action
sequence
observation.state
sequence
timestamp
float32
0
12.9
frame_index
int64
0
386
episode_index
int64
0
9
index
int64
0
3.15k
task_index
int64
0
0
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[ 2.98828125, 180.439453125, 156.181640625, 14.0625, -116.630859375, 0.7719298601150513 ]
[ -0.263671875, 183.779296875, 156.4453125, 23.291015625, -115.83984375, 7.1528754234313965 ]
2.366667
71
0
71
0
[ 4.482421875, 179.560546875, 156.181640625, 12.744140625, -116.630859375, 0.7719298601150513 ]
[ 0.3515625, 182.63671875, 156.796875, 21.26953125, -115.83984375, 7.1528754234313965 ]
2.4
72
0
72
0
[ 5.9765625, 178.505859375, 156.181640625, 11.6015625, -116.630859375, 0.7719298601150513 ]
[ 1.318359375, 181.58203125, 157.1484375, 19.3359375, -115.83984375, 7.1528754234313965 ]
2.433333
73
0
73
0
[ 7.734375, 177.275390625, 156.26953125, 10.634765625, -116.630859375, 0.7719298601150513 ]
[ 2.4609375, 180.615234375, 157.32421875, 17.490234375, -115.83984375, 7.1528754234313965 ]
2.466667
74
0
74
0
[ 9.580078125, 175.693359375, 156.26953125, 9.755859375, -116.630859375, 0.7719298601150513 ]
[ 3.603515625, 179.912109375, 157.32421875, 16.171875, -115.83984375, 7.1528754234313965 ]
2.5
75
0
75
0
[ 11.25, 174.111328125, 156.26953125, 9.052734375, -116.630859375, 0.7719298601150513 ]
[ 4.921875, 179.296875, 157.32421875, 14.853515625, -115.83984375, 7.1528754234313965 ]
2.533333
76
0
76
0
[ 12.919921875, 172.79296875, 156.26953125, 8.525390625, -116.71875, 0.7719298601150513 ]
[ 6.50390625, 178.59375, 157.32421875, 13.623046875, -115.83984375, 7.1528754234313965 ]
2.566667
77
0
77
0
[ 14.326171875, 171.826171875, 156.26953125, 8.173828125, -116.71875, 0.7719298601150513 ]
[ 8.0859375, 177.1875, 157.32421875, 12.568359375, -115.83984375, 7.1528754234313965 ]
2.6
78
0
78
0
[ 15.556640625, 170.771484375, 156.26953125, 8.0859375, -116.71875, 0.7719298601150513 ]
[ 9.755859375, 175.517578125, 157.32421875, 11.689453125, -115.927734375, 7.1528754234313965 ]
2.633333
79
0
79
0
[ 16.5234375, 169.892578125, 156.26953125, 8.0859375, -116.71875, 0.7719298601150513 ]
[ 11.42578125, 173.49609375, 157.32421875, 10.986328125, -116.103515625, 7.1528754234313965 ]
2.666667
80
0
80
0
[ 17.138671875, 168.92578125, 156.357421875, 8.0859375, -116.71875, 0.7719298601150513 ]
[ 12.744140625, 172.44140625, 157.412109375, 10.72265625, -116.103515625, 7.1528754234313965 ]
2.7
81
0
81
0
[ 17.578125, 167.783203125, 156.357421875, 8.0859375, -116.71875, 0.7719298601150513 ]
[ 14.0625, 171.38671875, 157.5, 10.458984375, -116.19140625, 7.1528754234313965 ]
2.733333
82
0
82
0
[ 17.75390625, 167.16796875, 156.357421875, 8.0859375, -116.71875, 0.7719298601150513 ]
[ 15.029296875, 170.771484375, 157.587890625, 10.283203125, -116.19140625, 7.1528754234313965 ]
2.766667
83
0
83
0
[ 17.841796875, 166.552734375, 156.357421875, 8.0859375, -116.71875, 0.7719298601150513 ]
[ 15.99609375, 169.453125, 157.587890625, 10.107421875, -116.19140625, 7.1528754234313965 ]
2.8
84
0
84
0
[ 17.841796875, 165.849609375, 156.357421875, 8.0859375, -116.71875, 0.7719298601150513 ]
[ 16.5234375, 168.3984375, 157.67578125, 9.931640625, -116.19140625, 7.1528754234313965 ]
2.833333
85
0
85
0
[ 17.75390625, 165.146484375, 156.357421875, 7.998046875, -116.71875, 0.7719298601150513 ]
[ 16.875, 167.51953125, 157.67578125, 9.931640625, -116.19140625, 7.1528754234313965 ]
2.866667
86
0
86
0
[ 17.75390625, 164.443359375, 156.357421875, 7.998046875, -116.71875, 0.7719298601150513 ]
[ 17.05078125, 166.9921875, 157.67578125, 9.931640625, -116.19140625, 7.1528754234313965 ]
2.9
87
0
87
0
[ 17.75390625, 163.65234375, 156.357421875, 7.998046875, -116.71875, 0.7719298601150513 ]
[ 17.138671875, 166.201171875, 157.67578125, 9.931640625, -116.19140625, 7.1528754234313965 ]
2.933333
88
0
88
0
[ 17.75390625, 162.94921875, 156.357421875, 7.998046875, -116.71875, 0.7719298601150513 ]
[ 17.314453125, 165.498046875, 157.67578125, 9.931640625, -116.19140625, 7.1528754234313965 ]
2.966667
89
0
89
0
[ 17.75390625, 162.158203125, 156.357421875, 7.998046875, -116.71875, 0.7719298601150513 ]
[ 17.314453125, 164.619140625, 157.67578125, 9.931640625, -116.19140625, 7.1528754234313965 ]
3
90
0
90
0
[ 17.666015625, 161.3671875, 156.357421875, 7.998046875, -116.71875, 0.7719298601150513 ]
[ 17.314453125, 163.828125, 157.67578125, 9.931640625, -116.19140625, 7.1528754234313965 ]
3.033333
91
0
91
0
[ 17.666015625, 160.48828125, 156.357421875, 7.998046875, -116.71875, 0.7719298601150513 ]
[ 17.314453125, 163.212890625, 157.67578125, 9.931640625, -116.19140625, 7.1528754234313965 ]
3.066667
92
0
92
0
[ 17.666015625, 159.697265625, 156.357421875, 7.998046875, -116.71875, 0.7719298601150513 ]
[ 17.314453125, 162.333984375, 157.67578125, 9.931640625, -116.19140625, 7.1528754234313965 ]
3.1
93
0
93
0
[ 17.666015625, 158.90625, 156.357421875, 7.91015625, -116.71875, 0.7719298601150513 ]
[ 17.314453125, 161.54296875, 157.67578125, 9.931640625, -116.19140625, 7.1528754234313965 ]
3.133333
94
0
94
0
[ 17.578125, 158.291015625, 156.357421875, 7.91015625, -116.71875, 0.7719298601150513 ]
[ 17.314453125, 160.751953125, 157.67578125, 9.931640625, -116.19140625, 7.1528754234313965 ]
3.166667
95
0
95
0
[ 17.578125, 157.67578125, 156.357421875, 7.91015625, -116.71875, 0.7719298601150513 ]
[ 17.314453125, 159.873046875, 157.67578125, 9.931640625, -116.19140625, 7.1528754234313965 ]
3.2
96
0
96
0
[ 17.578125, 157.060546875, 156.357421875, 7.91015625, -116.71875, 0.7719298601150513 ]
[ 17.314453125, 159.08203125, 157.67578125, 9.931640625, -116.19140625, 7.1528754234313965 ]
3.233333
97
0
97
0
[ 17.578125, 156.357421875, 156.357421875, 7.91015625, -116.71875, 0.7719298601150513 ]
[ 17.314453125, 158.466796875, 157.67578125, 9.931640625, -116.19140625, 7.1528754234313965 ]
3.266667
98
0
98
0
[ 17.578125, 155.390625, 156.357421875, 7.91015625, -116.71875, 0.7719298601150513 ]
[ 17.314453125, 157.763671875, 157.67578125, 9.931640625, -116.19140625, 7.1528754234313965 ]
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": 3149,
    "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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