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Datasets:
bensprenger
/
right_arm_p_brick_in_box_with_y_noise_v0

Tasks:
Robotics
Modalities:
Tabular
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Size:
10K - 100K
Tags:
LeRobot
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action
sequence
observation.state
sequence
timestamp
float32
0
19.9
frame_index
int64
0
597
episode_index
int64
0
49
index
int64
0
29.8k
task_index
int64
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2.4
72
0
72
0
[ -10.01953125, 186.240234375, 172.6171875, 79.98046875, -84.375, -0.09765625 ]
[ -10.107421875, 186.50390625, 172.705078125, 77.958984375, -84.287109375, 1.155234694480896 ]
2.433333
73
0
73
0
[ -10.283203125, 186.240234375, 172.6171875, 79.98046875, -84.375, -0.09765625 ]
[ -10.107421875, 186.50390625, 172.705078125, 77.958984375, -84.287109375, 1.155234694480896 ]
2.466667
74
0
74
0
[ -10.634765625, 186.240234375, 172.6171875, 79.98046875, -84.375, -0.09765625 ]
[ -10.107421875, 186.50390625, 172.705078125, 77.958984375, -84.287109375, 1.155234694480896 ]
2.5
75
0
75
0
[ -10.810546875, 186.240234375, 172.6171875, 79.98046875, -84.375, -0.09765625 ]
[ -10.107421875, 186.50390625, 172.705078125, 77.958984375, -84.287109375, 1.155234694480896 ]
2.533333
76
0
76
0
[ -10.8984375, 186.240234375, 172.6171875, 79.98046875, -84.375, -0.09765625 ]
[ -10.1953125, 186.50390625, 172.705078125, 77.958984375, -84.287109375, 1.155234694480896 ]
2.566667
77
0
77
0
[ -10.986328125, 186.240234375, 172.6171875, 79.98046875, -84.375, -0.09765625 ]
[ -10.37109375, 186.50390625, 172.705078125, 77.958984375, -84.287109375, 1.155234694480896 ]
2.6
78
0
78
0
[ -10.986328125, 186.240234375, 172.6171875, 79.98046875, -84.375, -0.09765625 ]
[ -10.634765625, 186.50390625, 172.705078125, 77.958984375, -84.287109375, 1.155234694480896 ]
2.633333
79
0
79
0
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[ -10.986328125, 186.50390625, 172.705078125, 77.958984375, -84.287109375, 1.155234694480896 ]
2.666667
80
0
80
0
[ -10.986328125, 186.240234375, 172.6171875, 79.98046875, -84.462890625, -0.09765625 ]
[ -10.986328125, 186.50390625, 172.705078125, 77.958984375, -84.287109375, 1.155234694480896 ]
2.7
81
0
81
0
[ -10.986328125, 186.240234375, 172.6171875, 80.068359375, -85.4296875, -0.09765625 ]
[ -10.810546875, 186.50390625, 172.705078125, 77.958984375, -84.287109375, 1.155234694480896 ]
2.733333
82
0
82
0
[ -10.986328125, 186.240234375, 172.6171875, 80.068359375, -88.41796875, -0.09765625 ]
[ -10.72265625, 186.50390625, 172.705078125, 77.958984375, -84.375, 1.155234694480896 ]
2.766667
83
0
83
0
[ -10.986328125, 186.240234375, 172.6171875, 80.068359375, -92.8125, -0.09765625 ]
[ -10.72265625, 186.50390625, 172.705078125, 77.958984375, -84.462890625, 1.155234694480896 ]
2.8
84
0
84
0
[ -10.810546875, 186.240234375, 172.6171875, 80.068359375, -97.294921875, -0.09765625 ]
[ -10.810546875, 186.50390625, 172.705078125, 78.046875, -85.4296875, 1.155234694480896 ]
2.833333
85
0
85
0
[ -10.810546875, 186.240234375, 172.6171875, 79.62890625, -98.173828125, -0.09765625 ]
[ -10.8984375, 186.50390625, 172.705078125, 78.22265625, -86.572265625, 1.155234694480896 ]
2.866667
86
0
86
0
[ -10.810546875, 185.9765625, 172.6171875, 79.189453125, -98.0859375, -0.09765625 ]
[ -10.986328125, 186.50390625, 172.705078125, 78.22265625, -88.76953125, 1.155234694480896 ]
2.9
87
0
87
0
[ -10.458984375, 185.625, 172.6171875, 78.3984375, -98.349609375, -0.09765625 ]
[ -10.8984375, 186.50390625, 172.6171875, 78.134765625, -91.93359375, 1.155234694480896 ]
2.933333
88
0
88
0
[ -10.01953125, 185.361328125, 172.6171875, 77.431640625, -97.998046875, -0.09765625 ]
[ -10.986328125, 186.50390625, 172.529296875, 78.046875, -94.21875, 1.155234694480896 ]
2.966667
89
0
89
0
[ -9.580078125, 184.5703125, 172.6171875, 75.76171875, -97.3828125, -0.09765625 ]
[ -10.634765625, 186.50390625, 172.44140625, 77.51953125, -95.361328125, 1.155234694480896 ]
3
90
0
90
0
[ -9.140625, 182.900390625, 172.529296875, 73.564453125, -96.85546875, -0.09765625 ]
[ -10.01953125, 186.240234375, 172.529296875, 76.9921875, -95.9765625, 1.155234694480896 ]
3.033333
91
0
91
0
[ -8.525390625, 181.142578125, 172.177734375, 71.455078125, -96.85546875, -0.09765625 ]
[ -10.458984375, 185.712890625, 172.529296875, 76.376953125, -96.15234375, 1.155234694480896 ]
3.066667
92
0
92
0
[ -7.91015625, 179.384765625, 171.298828125, 70.400390625, -96.85546875, -0.09765625 ]
[ -10.1953125, 185.44921875, 172.529296875, 75.9375, -96.416015625, 1.155234694480896 ]
3.1
93
0
93
0
[ -7.822265625, 178.154296875, 169.8046875, 70.576171875, -96.85546875, -0.09765625 ]
[ -9.140625, 184.39453125, 172.6171875, 74.970703125, -96.416015625, 1.155234694480896 ]
3.133333
94
0
94
0
[ -7.822265625, 177.01171875, 168.22265625, 71.103515625, -97.294921875, -0.09765625 ]
[ -8.7890625, 182.63671875, 172.705078125, 73.740234375, -96.416015625, 1.155234694480896 ]
3.166667
95
0
95
0
[ -7.822265625, 175.4296875, 166.201171875, 71.455078125, -98.173828125, -0.09765625 ]
[ -8.96484375, 180.87890625, 172.529296875, 72.7734375, -96.416015625, 1.155234694480896 ]
3.2
96
0
96
0
[ -7.91015625, 174.0234375, 164.091796875, 72.333984375, -98.701171875, -0.09765625 ]
[ -8.525390625, 178.76953125, 171.474609375, 72.421875, -96.767578125, 1.155234694480896 ]
3.233333
97
0
97
0
[ -7.822265625, 172.529296875, 161.630859375, 73.212890625, -98.96484375, -0.09765625 ]
[ -7.91015625, 178.41796875, 171.03515625, 72.24609375, -96.943359375, 1.155234694480896 ]
3.266667
98
0
98
0
[ -7.470703125, 171.2109375, 159.169921875, 74.00390625, -98.61328125, -0.09765625 ]
[ -7.822265625, 178.154296875, 170.771484375, 72.0703125, -96.943359375, 1.155234694480896 ]
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": "so100",
    "total_episodes": 47,
    "total_frames": 28013,
    "total_tasks": 1,
    "total_videos": 94,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:47"
    },
    "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.laptop": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.phone": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "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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