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Datasets:
bjahoor
/
so101_green_cap

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
xet
 Community
1
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observation.state
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float32
0
19.9
frame_index
int64
0
598
episode_index
int64
0
49
index
int64
0
29.9k
task_index
int64
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[ 6.4624223709106445, -100, 100, 61.72316360473633, 8.236272811889648, 0.8474576473236084 ]
[ 5.726455211639404, -99.51123809814453, 100, 61.49532699584961, 8.03093433380127, 1.0824313163757324 ]
2.266667
68
0
68
0
[ 7.036859512329102, -100, 100, 61.72316360473633, 8.236272811889648, 0.8474576473236084 ]
[ 5.726455211639404, -99.51123809814453, 100, 61.49532699584961, 8.03093433380127, 1.0824313163757324 ]
2.3
69
0
69
0
[ 8.089995384216309, -100, 100, 61.86440658569336, 8.236272811889648, 0.8474576473236084 ]
[ 5.726455211639404, -99.51123809814453, 100, 61.49532699584961, 8.03093433380127, 1.0824313163757324 ]
2.333333
70
0
70
0
[ 9.430349349975586, -100, 100, 62.28813552856445, 8.236272811889648, 0.8474576473236084 ]
[ 6.1050639152526855, -99.51123809814453, 100, 61.49532699584961, 8.03093433380127, 1.0824313163757324 ]
2.366667
71
0
71
0
[ 11.249402046203613, -100, 100, 63.4180793762207, 8.236272811889648, 0.8474576473236084 ]
[ 7.0515851974487305, -99.51123809814453, 100, 61.49532699584961, 8.03093433380127, 1.0824313163757324 ]
2.4
72
0
72
0
[ 13.068453788757324, -100, 100, 64.97174835205078, 8.40266227722168, 0.8474576473236084 ]
[ 7.998106956481934, -99.51123809814453, 100, 61.962615966796875, 8.03093433380127, 1.0824313163757324 ]
2.433333
73
0
73
0
[ 14.791766166687012, -100, 100, 67.51412200927734, 8.985025405883789, 0.9322034120559692 ]
[ 9.323237419128418, -99.51123809814453, 100, 62.71028137207031, 8.03093433380127, 1.0824313163757324 ]
2.466667
74
0
74
0
[ 15.940641403198242, -100, 100, 70.62146759033203, 10.898502349853516, 1.01694917678833 ]
[ 10.932323455810547, -99.51123809814453, 100, 63.92523193359375, 8.03093433380127, 1.0824313163757324 ]
2.5
75
0
75
0
[ 16.227859497070312, -100, 100, 73.87005615234375, 13.477537155151367, 1.01694917678833 ]
[ 12.541410446166992, -99.51123809814453, 100, 65.42056274414062, 8.506840705871582, 1.0824313163757324 ]
2.533333
76
0
76
0
[ 16.036380767822266, -100, 99.58390808105469, 76.8361587524414, 15.557404518127441, 1.01694917678833 ]
[ 14.0558443069458, -99.51123809814453, 100, 67.6635513305664, 9.577631950378418, 1.0824313163757324 ]
2.566667
77
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77
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[ 15.174724578857422, -100, 94.3134536743164, 79.0960464477539, 16.80532455444336, 1.01694917678833 ]
[ 14.907713890075684, -99.51123809814453, 100, 70.1869125366211, 11.362284660339355, 1.0824313163757324 ]
2.6
78
0
78
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[ 13.738631248474121, -100, 90.42996215820312, 80.93220520019531, 17.304492950439453, 1.01694917678833 ]
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2.633333
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79
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2.666667
80
0
80
0
[ 11.249402046203613, -100, 85.4368896484375, 82.62712097167969, 17.38768768310547, 1.01694917678833 ]
[ 14.529105186462402, -99.51123809814453, 98.81305694580078, 77.94392395019531, 15.645448684692383, 1.0824313163757324 ]
2.7
81
0
81
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[ 10.67496395111084, -100, 83.2177505493164, 82.76836395263672, 17.304492950439453, 1.01694917678833 ]
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2.733333
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2.766667
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[ 11.345141410827637, -100, 76.56033325195312, 81.07344818115234, 16.638935089111328, 1.01694917678833 ]
[ 11.78419303894043, -99.80449676513672, 89.61424255371094, 81.40187072753906, 16.59726333618164, 1.0824313163757324 ]
2.8
84
0
84
0
[ 12.015317916870117, -100, 72.39944458007812, 79.80226135253906, 15.723793983459473, 1.01694917678833 ]
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2.833333
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0
85
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[ 12.685495376586914, -100, 67.40637969970703, 78.81356048583984, 15.141430854797363, 1.01694917678833 ]
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2.866667
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0
86
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[ 12.9727144241333, -100, 61.442440032958984, 78.67231750488281, 14.975041389465332, 1.01694917678833 ]
[ 11.78419303894043, -99.51123809814453, 81.20672607421875, 80.74766540527344, 16.121356964111328, 1.0824313163757324 ]
2.9
87
0
87
0
[ 12.9727144241333, -97.54035186767578, 55.6171989440918, 78.67231750488281, 15.058236122131348, 1.01694917678833 ]
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2.933333
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2.966667
89
0
89
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[ 13.259932518005371, -83.24365997314453, 45.0762825012207, 78.53107452392578, 14.975041389465332, 1.01694917678833 ]
[ 12.541410446166992, -99.31573486328125, 68.05143737792969, 79.62616729736328, 15.288518905639648, 1.0824313163757324 ]
3
90
0
90
0
[ 13.451412200927734, -76.7870864868164, 40.77669906616211, 78.24858856201172, 14.8086519241333, 1.01694917678833 ]
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3.033333
91
0
91
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3.066667
92
0
92
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[ 12.920019149780273, -87.9765396118164, 52.12660598754883, 79.25233459472656, 15.16954231262207, 1.0824313163757324 ]
3.1
93
0
93
0
[ 14.313068389892578, -57.72482681274414, 31.622745513916016, 78.10734558105469, 14.55906867980957, 1.01694917678833 ]
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3.133333
94
0
94
0
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[ 13.203975677490234, -76.73509216308594, 43.02670669555664, 78.97196197509766, 15.050564765930176, 1.0824313163757324 ]
3.166667
95
0
95
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[ 13.487932205200195, -70.7722396850586, 39.36696243286133, 78.87850189208984, 14.931588172912598, 1.0824313163757324 ]
3.2
96
0
96
0
[ 16.515079498291016, -40.507301330566406, 27.0457706451416, 72.7401123046875, 11.980032920837402, 1.01694917678833 ]
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3.233333
97
0
97
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[ 17.37673568725586, -35.741737365722656, 26.213592529296875, 70.33898162841797, 10.981697082519531, 1.01694917678833 ]
[ 14.529105186462402, -58.2600212097168, 33.8278923034668, 77.47663879394531, 13.622843742370605, 1.0824313163757324 ]
3.266667
98
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98
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[ 18.14265251159668, -31.591083526611328, 25.797502517700195, 67.65536499023438, 10.316140174865723, 0.9322034120559692 ]
[ 15.380974769592285, -52.19941329956055, 32.24530029296875, 75.70093536376953, 12.790005683898926, 1.0824313163757324 ]
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": "v3.0",
    "robot_type": "so101_follower",
    "total_episodes": 50,
    "total_frames": 29950,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
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        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
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        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
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                1280,
                3
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            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 720,
                "video.width": 1280,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
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        "timestamp": {
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            "shape": [
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            "names": null
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

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