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Datasets:
blanchon
/
play_orange

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
< 1K
Tags:
LeRobot
so101
paino
Libraries:
Datasets
Dask
License:
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xet
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action
sequence
observation.state
sequence
timestamp
float32
0
5.4
frame_index
int64
0
162
episode_index
int64
0
5
index
int64
0
884
task_index
int64
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[ -13.53515625, 105.205078125, 117.158203125, -4.5703125, 0.263671875, 11.666666984558105 ]
[ -13.53515625, 106.5234375, 127.96875, -3.427734375, 0.791015625, 18.03977394104004 ]
2.366667
71
0
71
0
[ -13.798828125, 104.0625, 115.224609375, -4.306640625, 0.263671875, 8.75 ]
[ -13.53515625, 105.64453125, 126.650390625, -3.427734375, 0.791015625, 16.903409957885742 ]
2.4
72
0
72
0
[ -13.88671875, 102.83203125, 113.466796875, -4.04296875, 0.263671875, 5.6666669845581055 ]
[ -13.53515625, 105.1171875, 125.68359375, -3.427734375, 0.791015625, 15.909090995788574 ]
2.433333
73
0
73
0
[ -13.974609375, 101.6015625, 111.884765625, -3.955078125, 0.263671875, 2.3333332538604736 ]
[ -13.53515625, 104.94140625, 124.892578125, -3.427734375, 0.791015625, 15.340909004211426 ]
2.466667
74
0
74
0
[ -13.974609375, 100.37109375, 110.56640625, -3.955078125, 0.263671875, -1.1666666269302368 ]
[ -13.53515625, 104.94140625, 124.365234375, -3.427734375, 0.791015625, 14.914772987365723 ]
2.5
75
0
75
0
[ -13.974609375, 99.140625, 109.51171875, -3.955078125, 0.263671875, -3.5833332538604736 ]
[ -13.53515625, 104.4140625, 123.57421875, -3.427734375, 0.791015625, 14.133522987365723 ]
2.533333
76
0
76
0
[ -13.974609375, 97.998046875, 108.6328125, -3.8671875, 0.263671875, -4.1666669845581055 ]
[ -13.53515625, 102.744140625, 121.640625, -3.427734375, 0.791015625, 12.571022987365723 ]
2.566667
77
0
77
0
[ -13.88671875, 97.03125, 108.10546875, -3.779296875, 0.263671875, -3.4166667461395264 ]
[ -13.53515625, 100.634765625, 119.1796875, -3.427734375, 0.791015625, 10.085227012634277 ]
2.6
78
0
78
0
[ -13.798828125, 96.50390625, 108.10546875, -3.779296875, 0.263671875, -2.5833332538604736 ]
[ -13.53515625, 98.701171875, 117.158203125, -3.427734375, 0.791015625, 6.605113506317139 ]
2.633333
79
0
79
0
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[ -13.53515625, 97.20703125, 115.6640625, -3.427734375, 0.791015625, 3.3380682468414307 ]
2.666667
80
0
80
0
[ -13.88671875, 95.44921875, 108.28125, -3.779296875, 0.263671875, -1.4166667461395264 ]
[ -13.53515625, 96.15234375, 114.609375, -3.427734375, 0.791015625, 0.9943181872367859 ]
2.7
81
0
81
0
[ -13.88671875, 94.833984375, 108.28125, -3.779296875, 0.263671875, -1.5833332538604736 ]
[ -13.53515625, 95.44921875, 113.994140625, -3.427734375, 0.791015625, 0 ]
2.733333
82
0
82
0
[ -13.88671875, 94.482421875, 108.28125, -3.779296875, 0.263671875, -2 ]
[ -13.53515625, 94.74609375, 113.5546875, -3.427734375, 0.791015625, 0 ]
2.766667
83
0
83
0
[ -13.88671875, 94.306640625, 108.28125, -3.779296875, 0.263671875, -2.5 ]
[ -13.53515625, 94.130859375, 113.203125, -3.427734375, 0.791015625, 0 ]
2.8
84
0
84
0
[ -13.88671875, 94.306640625, 108.369140625, -3.779296875, 0.263671875, -3.0833334922790527 ]
[ -13.53515625, 93.603515625, 113.02734375, -3.427734375, 0.791015625, -0.07102272659540176 ]
2.833333
85
0
85
0
[ -13.88671875, 94.482421875, 108.369140625, -3.779296875, 0.263671875, -3.25 ]
[ -13.53515625, 93.1640625, 112.939453125, -3.427734375, 0.791015625, -0.07102272659540176 ]
2.866667
86
0
86
0
[ -13.88671875, 94.5703125, 108.369140625, -3.779296875, 0.263671875, -3.3333334922790527 ]
[ -13.53515625, 92.98828125, 112.939453125, -3.427734375, 0.791015625, -0.49715909361839294 ]
2.9
87
0
87
0
[ -13.88671875, 94.74609375, 108.369140625, -3.779296875, 0.263671875, -3.3333334922790527 ]
[ -13.53515625, 92.98828125, 112.939453125, -3.427734375, 0.791015625, -0.7102273106575012 ]
2.933333
88
0
88
0
[ -13.88671875, 94.833984375, 108.369140625, -3.779296875, 0.263671875, -3.3333334922790527 ]
[ -13.53515625, 92.98828125, 112.939453125, -3.427734375, 0.791015625, -0.8522727489471436 ]
2.966667
89
0
89
0
[ -13.88671875, 94.833984375, 108.369140625, -3.779296875, 0.263671875, -3.3333334922790527 ]
[ -13.53515625, 92.98828125, 112.939453125, -3.427734375, 0.791015625, -0.9232954382896423 ]
3
90
0
90
0
[ -13.88671875, 94.833984375, 108.369140625, -3.779296875, 0.263671875, -3.3333334922790527 ]
[ -13.53515625, 92.98828125, 112.939453125, -3.427734375, 0.791015625, -0.9943181872367859 ]
3.033333
91
0
91
0
[ -13.88671875, 94.5703125, 108.45703125, -3.779296875, 0.263671875, -3.3333334922790527 ]
[ -13.53515625, 92.98828125, 112.939453125, -3.427734375, 0.791015625, -0.9943181872367859 ]
3.066667
92
0
92
0
[ -13.88671875, 94.306640625, 108.896484375, -3.779296875, 0.263671875, -3.3333334922790527 ]
[ -13.53515625, 92.98828125, 112.939453125, -3.427734375, 0.791015625, -0.9943181872367859 ]
3.1
93
0
93
0
[ -13.88671875, 94.21875, 109.775390625, -3.779296875, 0.263671875, -3.3333334922790527 ]
[ -13.53515625, 92.98828125, 112.939453125, -3.427734375, 0.791015625, -0.9943181872367859 ]
3.133333
94
0
94
0
[ -13.88671875, 94.21875, 111.26953125, -3.779296875, 0.263671875, -3.3333334922790527 ]
[ -13.53515625, 92.98828125, 112.939453125, -3.427734375, 0.791015625, -0.9943181872367859 ]
3.166667
95
0
95
0
[ -13.88671875, 94.21875, 113.02734375, -3.779296875, 0.263671875, -3.3333334922790527 ]
[ -13.53515625, 92.98828125, 112.939453125, -3.427734375, 0.791015625, -0.9943181872367859 ]
3.2
96
0
96
0
[ -13.974609375, 94.21875, 115.048828125, -3.8671875, 0.263671875, -3.3333334922790527 ]
[ -13.53515625, 92.98828125, 112.939453125, -3.427734375, 0.791015625, -0.9943181872367859 ]
3.233333
97
0
97
0
[ -13.974609375, 94.21875, 117.0703125, -4.21875, 0.263671875, -3.3333334922790527 ]
[ -13.53515625, 92.98828125, 113.5546875, -3.427734375, 0.791015625, -0.9943181872367859 ]
3.266667
98
0
98
0
[ -13.974609375, 94.21875, 118.828125, -4.482421875, 0.263671875, -3.3333334922790527 ]
[ -13.53515625, 92.98828125, 114.609375, -3.427734375, 0.791015625, -0.9943181872367859 ]
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": 6,
    "total_frames": 885,
    "total_tasks": 1,
    "total_videos": 6,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:6"
    },
    "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
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        },
        "index": {
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            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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