Hugging Face's logo

Datasets:
orbbecwuxin
/
so101-rgbd-pick

Tasks:
Robotics
Modalities:
Image
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
xet
 Community
1
Dataset Viewer
Auto-converted to Parquet Duplicate
Search is not available for this dataset
action
list
observation.state
list
observation.images.head_depth
imagewidth (px)
640
640
timestamp
float32
0
14.1
frame_index
int64
0
422
episode_index
int64
0
49
index
int64
0
16.4k
task_index
int64
0
0
[ 8.395604133605957, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
0
0
0
0
0
[ 8.395604133605957, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
0.033333
1
0
1
0
[ 8.395604133605957, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
0.066667
2
0
2
0
[ 8.395604133605957, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
0.1
3
0
3
0
[ 8.395604133605957, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
0.133333
4
0
4
0
[ 8.395604133605957, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
0.166667
5
0
5
0
[ 8.395604133605957, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
0.2
6
0
6
0
[ 8.395604133605957, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
0.233333
7
0
7
0
[ 8.395604133605957, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
0.266667
8
0
8
0
[ 8.395604133605957, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
0.3
9
0
9
0
[ 8.395604133605957, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
0.333333
10
0
10
0
[ 8.395604133605957, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
0.366667
11
0
11
0
[ 8.395604133605957, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
0.4
12
0
12
0
[ 8.395604133605957, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
0.433333
13
0
13
0
[ 8.395604133605957, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
0.466667
14
0
14
0
[ 8.395604133605957, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
0.5
15
0
15
0
[ 8.395604133605957, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
0.533333
16
0
16
0
[ 8.395604133605957, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
0.566667
17
0
17
0
[ 8.395604133605957, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
0.6
18
0
18
0
[ 8.395604133605957, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
0.633333
19
0
19
0
[ 8.395604133605957, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
0.666667
20
0
20
0
[ 8.395604133605957, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
0.7
21
0
21
0
[ 8.395604133605957, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
0.733333
22
0
22
0
[ 8.395604133605957, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
0.766667
23
0
23
0
[ 8.395604133605957, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
0.8
24
0
24
0
[ 8.395604133605957, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
0.833333
25
0
25
0
[ 8.395604133605957, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
0.866667
26
0
26
0
[ 8.395604133605957, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
0.9
27
0
27
0
[ 8.395604133605957, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
0.933333
28
0
28
0
[ 8.395604133605957, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
0.966667
29
0
29
0
[ 8.395604133605957, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
1
30
0
30
0
[ 8.395604133605957, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
1.033333
31
0
31
0
[ 8.395604133605957, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
1.066667
32
0
32
0
[ 8.395604133605957, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
1.1
33
0
33
0
[ 8.395604133605957, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
1.133333
34
0
34
0
[ 8.395604133605957, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
1.166667
35
0
35
0
[ 8.395604133605957, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
1.2
36
0
36
0
[ 8.395604133605957, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
1.233333
37
0
37
0
[ 8.395604133605957, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
1.266667
38
0
38
0
[ 8.395604133605957, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
1.3
39
0
39
0
[ 8.395604133605957, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
1.333333
40
0
40
0
[ 8.395604133605957, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
1.366667
41
0
41
0
[ 8.395604133605957, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
1.4
42
0
42
0
[ 8.395604133605957, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
1.433333
43
0
43
0
[ 8.395604133605957, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
1.466667
44
0
44
0
[ 8.395604133605957, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
1.5
45
0
45
0
[ 8.395604133605957, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
1.533333
46
0
46
0
[ 8.395604133605957, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
1.566667
47
0
47
0
[ 8.395604133605957, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
1.6
48
0
48
0
[ 8.395604133605957, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
1.633333
49
0
49
0
[ 8.307692527770996, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
1.666667
50
0
50
0
[ 8.307692527770996, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
1.7
51
0
51
0
[ 8.307692527770996, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
1.733333
52
0
52
0
[ 8.307692527770996, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
1.766667
53
0
53
0
[ 8.219779968261719, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
1.8
54
0
54
0
[ 8.219779968261719, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
1.833333
55
0
55
0
[ 8.307692527770996, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
1.866667
56
0
56
0
[ 8.219779968261719, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
1.9
57
0
57
0
[ 8.219779968261719, -90.81318664550781, 95.16483306884766, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
1.933333
58
0
58
0
[ 8.219779968261719, -90.81318664550781, 95.07691955566406, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
1.966667
59
0
59
0
[ 8.219779968261719, -90.81318664550781, 95.07691955566406, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
2
60
0
60
0
[ 8.307692527770996, -90.81318664550781, 95.07691955566406, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
2.033333
61
0
61
0
[ 8.395604133605957, -90.81318664550781, 95.07691955566406, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
2.066667
62
0
62
0
[ 8.395604133605957, -90.81318664550781, 95.07691955566406, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
2.1
63
0
63
0
[ 8.307692527770996, -90.81318664550781, 95.07691955566406, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
2.133333
64
0
64
0
[ 8.307692527770996, -90.81318664550781, 95.07691955566406, 56.21977996826172, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
2.166667
65
0
65
0
[ 8.131868362426758, -90.81318664550781, 95.07691955566406, 56.131866455078125, 4.439560413360596, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
2.2
66
0
66
0
[ 8.131868362426758, -90.81318664550781, 95.07691955566406, 56.131866455078125, 4.527472496032715, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
2.233333
67
0
67
0
[ 8.04395580291748, -90.81318664550781, 94.989013671875, 56.0439567565918, 4.527472496032715, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
2.266667
68
0
68
0
[ 8.04395580291748, -90.63735961914062, 94.9011001586914, 56.0439567565918, 4.527472496032715, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
2.3
69
0
69
0
[ 7.956043720245361, -90.54945373535156, 94.9011001586914, 56.0439567565918, 4.527472496032715, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
2.333333
70
0
70
0
[ 7.692307472229004, -90.46154022216797, 94.9011001586914, 55.9560432434082, 4.527472496032715, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
2.366667
71
0
71
0
[ 7.516483306884766, -90.46154022216797, 94.81318664550781, 55.9560432434082, 4.527472496032715, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
2.4
72
0
72
0
[ 7.4285712242126465, -90.37362670898438, 94.81318664550781, 55.9560432434082, 4.527472496032715, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
2.433333
73
0
73
0
[ 7.4285712242126465, -90.28571319580078, 94.81318664550781, 55.9560432434082, 4.527472496032715, 0.896495521068573 ]
[ 8.087912559509277, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
2.466667
74
0
74
0
[ 7.4285712242126465, -90.10989379882812, 94.81318664550781, 55.9560432434082, 4.527472496032715, 0.9779950976371765 ]
[ 8, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
2.5
75
0
75
0
[ 7.4285712242126465, -89.4945068359375, 94.54945373535156, 55.9560432434082, 4.527472496032715, 0.9779950976371765 ]
[ 7.736263751983643, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
2.533333
76
0
76
0
[ 7.4285712242126465, -88.26373291015625, 93.5824203491211, 55.9560432434082, 4.439560413360596, 0.9779950976371765 ]
[ 7.560439586639404, -90.37362670898438, 96, 56, 4.351648330688477, 1.4854828119277954 ]
2.566667
77
0
77
0
[ 7.4285712242126465, -85.62637329101562, 91.56044006347656, 55.9560432434082, 4.439560413360596, 0.9779950976371765 ]
[ 7.560439586639404, -90.10989379882812, 96, 56, 4.351648330688477, 1.4854828119277954 ]
2.6
78
0
78
0
[ 7.4285712242126465, -84.65933990478516, 90.85713958740234, 55.9560432434082, 4.439560413360596, 0.9779950976371765 ]
[ 7.560439586639404, -89.4945068359375, 95.82417297363281, 56, 4.351648330688477, 1.4854828119277954 ]
2.633333
79
0
79
0
[ 7.4285712242126465, -82.10989379882812, 88.92308044433594, 55.9560432434082, 4.439560413360596, 0.9779950976371765 ]
[ 7.560439586639404, -89.05494689941406, 95.73626708984375, 56, 4.351648330688477, 1.4854828119277954 ]
2.666667
80
0
80
0
[ 7.4285712242126465, -80.0879135131836, 87.34066009521484, 55.9560432434082, 4.439560413360596, 0.9779950976371765 ]
[ 7.560439586639404, -87.64835357666016, 94.76923370361328, 56, 4.351648330688477, 1.4854828119277954 ]
2.7
81
0
81
0
[ 7.4285712242126465, -77.71428680419922, 85.5824203491211, 55.9560432434082, 4.439560413360596, 0.9779950976371765 ]
[ 7.560439586639404, -85.62637329101562, 93.27472686767578, 56, 4.351648330688477, 1.4854828119277954 ]
2.733333
82
0
82
0
[ 7.4285712242126465, -75.34066009521484, 83.9120864868164, 55.9560432434082, 4.439560413360596, 0.9779950976371765 ]
[ 7.560439586639404, -83.34066009521484, 91.6043930053711, 56, 4.351648330688477, 1.4854828119277954 ]
2.766667
83
0
83
0
[ 7.4285712242126465, -73.05494689941406, 82.4175796508789, 55.9560432434082, 4.439560413360596, 0.9779950976371765 ]
[ 7.560439586639404, -81.31867980957031, 90.02198028564453, 56, 4.351648330688477, 1.4854828119277954 ]
2.8
84
0
84
0
[ 7.4285712242126465, -71.03296661376953, 81.0988998413086, 55.9560432434082, 4.439560413360596, 0.9779950976371765 ]
[ 7.560439586639404, -78.94505310058594, 88.35164642333984, 56, 4.351648330688477, 1.4854828119277954 ]
2.833333
85
0
85
0
[ 7.340659141540527, -69.010986328125, 79.86813354492188, 55.868133544921875, 4.439560413360596, 0.9779950976371765 ]
[ 7.560439586639404, -76.57142639160156, 86.68132019042969, 56, 4.351648330688477, 1.4854828119277954 ]
2.866667
86
0
86
0
[ 7.252747058868408, -67.16483306884766, 78.54945373535156, 55.868133544921875, 4.439560413360596, 0.9779950976371765 ]
[ 7.560439586639404, -74.46154022216797, 85.36264038085938, 56, 4.351648330688477, 1.4854828119277954 ]
2.9
87
0
87
0
[ 6.549450397491455, -65.31867980957031, 77.14286041259766, 55.868133544921875, 4.439560413360596, 0.9779950976371765 ]
[ 7.560439586639404, -72.52747344970703, 83.95604705810547, 56, 4.351648330688477, 1.4854828119277954 ]
2.933333
88
0
88
0
[ 5.5824174880981445, -63.56044006347656, 75.64835357666016, 56.30769348144531, 4.439560413360596, 0.9779950976371765 ]
[ 7.560439586639404, -70.15384674072266, 82.54945373535156, 56, 4.351648330688477, 1.4854828119277954 ]
2.966667
89
0
89
0
[ 4.615384578704834, -61.978023529052734, 74.4175796508789, 56.39560317993164, 4.175824165344238, 0.9779950976371765 ]
[ 7.296703338623047, -68.21977996826172, 81.31867980957031, 56, 4.351648330688477, 1.4854828119277954 ]
3
90
0
90
0
[ 3.7362637519836426, -60.39560317993164, 73.27472686767578, 56.39560317993164, 4.087912082672119, 0.9779950976371765 ]
[ 6.505494594573975, -66.54945373535156, 79.73626708984375, 56, 4.351648330688477, 1.4854828119277954 ]
3.033333
91
0
91
0
[ 2.857142925262451, -58.901100158691406, 72.04395294189453, 56.39560317993164, 4, 0.9779950976371765 ]
[ 5.626373767852783, -64.61538696289062, 78.4175796508789, 56.087913513183594, 4.351648330688477, 1.4854828119277954 ]
3.066667
92
0
92
0
[ 2.153846263885498, -57.4945068359375, 70.989013671875, 56.39560317993164, 4, 0.9779950976371765 ]
[ 4.92307710647583, -62.85714340209961, 77.18681335449219, 56.17582321166992, 4.351648330688477, 1.4854828119277954 ]
3.1
93
0
93
0
[ 1.5384615659713745, -56.087913513183594, 69.93406677246094, 56.39560317993164, 4, 0.9779950976371765 ]
[ 4.131868362426758, -61.27472686767578, 76.04395294189453, 56.17582321166992, 4.351648330688477, 1.4854828119277954 ]
3.133333
94
0
94
0
[ 1.0109890699386597, -54.769229888916016, 68.87911987304688, 56.39560317993164, 4, 0.9779950976371765 ]
[ 3.2527472972869873, -59.69230651855469, 74.81318664550781, 56.17582321166992, 4.351648330688477, 1.4854828119277954 ]
3.166667
95
0
95
0
[ 0.6593406796455383, -53.4505500793457, 68, 56.39560317993164, 4, 0.9779950976371765 ]
[ 2.549450635910034, -58.28571319580078, 73.75823974609375, 56.17582321166992, 4.351648330688477, 1.4854828119277954 ]
3.2
96
0
96
0
[ 0.3956044018268585, -52.21977996826172, 66.94505310058594, 56.39560317993164, 4, 0.9779950976371765 ]
[ 2.0219781398773193, -56.70329666137695, 72.52747344970703, 56.17582321166992, 4.351648330688477, 1.4854828119277954 ]
3.233333
97
0
97
0
[ 0.3076923191547394, -50.901100158691406, 65.97801971435547, 56.483516693115234, 4.175824165344238, 0.9779950976371765 ]
[ 1.4065934419631958, -55.38461685180664, 71.56044006347656, 56.17582321166992, 4.351648330688477, 1.4854828119277954 ]
3.266667
98
0
98
0
[ 0.3076923191547394, -49.67033004760742, 65.0988998413086, 56.483516693115234, 4.439560413360596, 0.9779950976371765 ]
[ 1.0549451112747192, -54.06593322753906, 70.5054931640625, 56.17582321166992, 4.351648330688477, 1.4854828119277954 ]
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": "so_follower",
    "total_episodes": 50,
    "total_frames": 16439,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "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": [
                6
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
            ]
        },
        "observation.images.head": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "hevc",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.head_depth": {
            "dtype": "depth",
            "shape": [
                480,
                640,
                1
            ],
            "names": [
                "height",
                "width",
                "channels"
            ]
        },
        "observation.images.left": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "hevc",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "hevc",
                "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:

[More Information Needed]
Downloads last month
21
License:
apache-2.0
Number of rows:
16,439
Total file size:
1.47 GB