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Datasets:
bjb7
/
so101_pen_touch_test_2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so101
tutorial
Libraries:
Datasets
Dask
License:
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action
sequence
observation.state
sequence
timestamp
float32
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18.8
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71
0
[ 25.576171875, 83.935546875, 99.404296875, 55.1953125, -0.791015625, 0.6315789818763733 ]
[ 24.43359375, 83.3203125, 103.798828125, 52.646484375, -0.439453125, 0.7012622952461243 ]
2.4
72
0
72
0
[ 25.751953125, 83.84765625, 99.404296875, 56.25, -0.791015625, 0.6315789818763733 ]
[ 24.697265625, 82.96875, 103.798828125, 53.26171875, -0.439453125, 0.7012622952461243 ]
2.433333
73
0
73
0
[ 25.751953125, 83.935546875, 99.404296875, 57.3046875, -0.791015625, 0.6315789818763733 ]
[ 24.9609375, 82.705078125, 103.798828125, 54.052734375, -0.439453125, 0.7012622952461243 ]
2.466667
74
0
74
0
[ 25.751953125, 83.935546875, 99.31640625, 58.271484375, -0.791015625, 0.6315789818763733 ]
[ 25.13671875, 82.6171875, 103.798828125, 54.84375, -0.439453125, 0.7012622952461243 ]
2.5
75
0
75
0
[ 25.751953125, 84.0234375, 99.31640625, 59.23828125, -0.791015625, 0.6315789818763733 ]
[ 25.3125, 82.6171875, 103.798828125, 55.72265625, -0.439453125, 0.7012622952461243 ]
2.533333
76
0
76
0
[ 25.751953125, 84.0234375, 99.31640625, 60.029296875, -0.791015625, 0.6315789818763733 ]
[ 25.400390625, 82.6171875, 103.798828125, 56.689453125, -0.439453125, 0.7012622952461243 ]
2.566667
77
0
77
0
[ 25.751953125, 83.84765625, 99.31640625, 60.64453125, -0.791015625, 0.6315789818763733 ]
[ 25.400390625, 82.6171875, 103.798828125, 57.568359375, -0.439453125, 0.7012622952461243 ]
2.6
78
0
78
0
[ 25.751953125, 83.583984375, 99.31640625, 61.259765625, -0.791015625, 0.6315789818763733 ]
[ 25.400390625, 82.6171875, 103.798828125, 58.447265625, -0.439453125, 0.7012622952461243 ]
2.633333
79
0
79
0
[ 25.751953125, 83.583984375, 99.31640625, 61.435546875, -0.791015625, 0.6315789818763733 ]
[ 25.400390625, 82.6171875, 103.798828125, 59.23828125, -0.439453125, 0.7012622952461243 ]
2.666667
80
0
80
0
[ 25.751953125, 83.49609375, 99.31640625, 61.435546875, -0.791015625, 0.6315789818763733 ]
[ 25.400390625, 82.6171875, 103.798828125, 59.853515625, -0.439453125, 0.7012622952461243 ]
2.7
81
0
81
0
[ 25.751953125, 83.408203125, 99.31640625, 61.34765625, -0.791015625, 0.6315789818763733 ]
[ 25.400390625, 82.529296875, 103.798828125, 60.46875, -0.439453125, 0.7012622952461243 ]
2.733333
82
0
82
0
[ 25.751953125, 83.3203125, 99.31640625, 61.171875, -0.791015625, 0.6315789818763733 ]
[ 25.400390625, 82.44140625, 103.798828125, 60.64453125, -0.439453125, 0.7012622952461243 ]
2.766667
83
0
83
0
[ 25.751953125, 83.14453125, 99.31640625, 61.083984375, -0.791015625, 0.6315789818763733 ]
[ 25.400390625, 82.44140625, 103.798828125, 60.8203125, -0.439453125, 0.7012622952461243 ]
2.8
84
0
84
0
[ 25.751953125, 82.44140625, 99.140625, 61.083984375, -0.791015625, 0.6315789818763733 ]
[ 25.400390625, 82.44140625, 103.798828125, 60.908203125, -0.439453125, 0.7012622952461243 ]
2.833333
85
0
85
0
[ 25.751953125, 81.474609375, 98.701171875, 61.083984375, -0.791015625, 0.6315789818763733 ]
[ 25.400390625, 82.44140625, 103.798828125, 60.908203125, -0.439453125, 0.7012622952461243 ]
2.866667
86
0
86
0
[ 25.751953125, 80.595703125, 98.349609375, 61.083984375, -0.791015625, 0.6315789818763733 ]
[ 25.400390625, 82.001953125, 103.7109375, 60.908203125, -0.439453125, 0.7012622952461243 ]
2.9
87
0
87
0
[ 25.6640625, 79.892578125, 98.173828125, 60.99609375, -0.791015625, 0.6315789818763733 ]
[ 25.400390625, 81.03515625, 103.359375, 60.908203125, -0.439453125, 0.7012622952461243 ]
2.933333
88
0
88
0
[ 25.576171875, 79.453125, 98.173828125, 60.99609375, -0.791015625, 0.6315789818763733 ]
[ 25.400390625, 79.98046875, 103.0078125, 60.908203125, -0.439453125, 0.7012622952461243 ]
2.966667
89
0
89
0
[ 25.576171875, 79.013671875, 98.0859375, 60.99609375, -0.791015625, 0.6315789818763733 ]
[ 25.400390625, 79.27734375, 102.744140625, 60.908203125, -0.439453125, 0.7012622952461243 ]
3
90
0
90
0
[ 25.576171875, 79.013671875, 98.0859375, 60.99609375, -0.791015625, 0.6315789818763733 ]
[ 25.400390625, 78.662109375, 102.65625, 60.908203125, -0.439453125, 0.7012622952461243 ]
3.033333
91
0
91
0
[ 25.576171875, 79.189453125, 98.0859375, 60.99609375, -0.791015625, 0.6315789818763733 ]
[ 25.400390625, 78.3984375, 102.48046875, 60.8203125, -0.439453125, 0.7012622952461243 ]
3.066667
92
0
92
0
[ 25.576171875, 79.365234375, 98.0859375, 60.99609375, -0.791015625, 0.6315789818763733 ]
[ 25.400390625, 78.310546875, 102.041015625, 60.908203125, -0.439453125, 0.7012622952461243 ]
3.1
93
0
93
0
[ 25.6640625, 79.453125, 98.173828125, 60.99609375, -0.791015625, 0.6315789818763733 ]
[ 25.400390625, 78.22265625, 101.865234375, 60.908203125, -0.439453125, 0.7012622952461243 ]
3.133333
94
0
94
0
[ 25.6640625, 79.541015625, 98.173828125, 60.99609375, -0.791015625, 0.6315789818763733 ]
[ 25.400390625, 78.22265625, 101.77734375, 60.908203125, -0.439453125, 0.7012622952461243 ]
3.166667
95
0
95
0
[ 25.6640625, 79.541015625, 98.173828125, 60.99609375, -0.791015625, 0.6315789818763733 ]
[ 25.400390625, 78.22265625, 101.77734375, 60.908203125, -0.439453125, 0.7012622952461243 ]
3.2
96
0
96
0
[ 25.6640625, 79.541015625, 98.173828125, 60.99609375, -0.791015625, 0.6315789818763733 ]
[ 25.400390625, 78.22265625, 101.77734375, 60.908203125, -0.439453125, 0.7012622952461243 ]
3.233333
97
0
97
0
[ 25.6640625, 79.541015625, 98.0859375, 60.99609375, -0.791015625, 0.6315789818763733 ]
[ 25.400390625, 78.22265625, 101.77734375, 60.908203125, -0.439453125, 0.7012622952461243 ]
3.266667
98
0
98
0
[ 25.6640625, 79.541015625, 98.0859375, 60.99609375, -0.791015625, 0.6315789818763733 ]
[ 25.400390625, 78.22265625, 101.77734375, 60.908203125, -0.439453125, 0.7012622952461243 ]
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": 100,
    "total_frames": 24167,
    "total_tasks": 1,
    "total_videos": 200,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:100"
    },
    "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": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
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Number of rows:
24,167