Hugging Face's logo

Datasets:
demon-zozo
/
pick_pen

Tasks:
Robotics
Modalities:
Image
Time-series
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
Community
Dataset Viewer
Auto-converted to Parquet
Search is not available for this dataset
action
sequence
observation.state
sequence
observation.images.gripper
imagewidth (px)
640
640
timestamp
float32
0
9.97
frame_index
int64
0
299
episode_index
int64
0
9
index
int64
0
2.99k
task_index
int64
0
0
[ -21.437850952148438, -92.4140625, 99.2021255493164, 70.50874328613281, 33.52631759643555, 0 ]
[ -21.735116958618164, -92.53486633300781, 98.94086456298828, 68.15878295898438, 33.382171630859375, 2.2727272510528564 ]
0
0
0
0
0
[ -21.437850952148438, -92.4140625, 99.2021255493164, 70.50874328613281, 33.52631759643555, 0 ]
[ -21.735116958618164, -92.53486633300781, 98.94086456298828, 68.15878295898438, 33.382171630859375, 2.2727272510528564 ]
0.033333
1
0
1
0
[ -21.437850952148438, -92.4140625, 99.2021255493164, 70.50874328613281, 33.52631759643555, 0 ]
[ -21.735116958618164, -92.53486633300781, 98.94086456298828, 68.49662017822266, 33.382171630859375, 2.2727272510528564 ]
0.066667
2
0
2
0
[ -21.437850952148438, -92.4140625, 99.2021255493164, 70.50874328613281, 33.52631759643555, 0 ]
[ -21.735116958618164, -92.53486633300781, 98.94086456298828, 69.25675964355469, 33.382171630859375, 1.8181818723678589 ]
0.1
3
0
3
0
[ -21.437850952148438, -92.4140625, 99.2021255493164, 70.50874328613281, 33.52631759643555, 0 ]
[ -21.735116958618164, -92.53486633300781, 98.94086456298828, 69.76351165771484, 33.382171630859375, 1.753246784210205 ]
0.133333
4
0
4
0
[ -21.437850952148438, -92.4140625, 99.2021255493164, 70.50874328613281, 33.52631759643555, 0 ]
[ -21.735116958618164, -92.53486633300781, 98.94086456298828, 70.10134887695312, 33.382171630859375, 1.753246784210205 ]
0.166667
5
0
5
0
[ -21.437850952148438, -92.4140625, 99.2021255493164, 70.50874328613281, 33.52631759643555, 0 ]
[ -21.735116958618164, -92.53486633300781, 98.94086456298828, 70.27027130126953, 33.382171630859375, 1.753246784210205 ]
0.2
6
0
6
0
[ -21.437850952148438, -92.4140625, 99.2021255493164, 70.50874328613281, 33.52631759643555, 0 ]
[ -21.735116958618164, -92.53486633300781, 98.94086456298828, 70.27027130126953, 33.382171630859375, 1.753246784210205 ]
0.233333
7
0
7
0
[ -21.437850952148438, -92.4140625, 99.2021255493164, 70.50874328613281, 33.52631759643555, 0 ]
[ -21.735116958618164, -92.53486633300781, 98.94086456298828, 70.27027130126953, 33.382171630859375, 1.753246784210205 ]
0.266667
8
0
8
0
[ -21.437850952148438, -92.4140625, 99.2021255493164, 70.50874328613281, 33.52631759643555, 0 ]
[ -21.735116958618164, -92.53486633300781, 98.94086456298828, 70.27027130126953, 33.382171630859375, 1.753246784210205 ]
0.3
9
0
9
0
[ -21.437850952148438, -92.4140625, 99.2021255493164, 70.50874328613281, 33.52631759643555, 0 ]
[ -21.735116958618164, -92.53486633300781, 98.94086456298828, 70.27027130126953, 33.382171630859375, 1.753246784210205 ]
0.333333
10
0
10
0
[ -21.437850952148438, -92.4140625, 99.2021255493164, 70.50874328613281, 33.52631759643555, 0 ]
[ -21.735116958618164, -92.53486633300781, 98.94086456298828, 70.27027130126953, 33.382171630859375, 1.753246784210205 ]
0.366667
11
0
11
0
[ -21.437850952148438, -92.4140625, 99.2021255493164, 70.50874328613281, 33.52631759643555, 0 ]
[ -21.735116958618164, -92.53486633300781, 98.94086456298828, 70.27027130126953, 33.382171630859375, 1.753246784210205 ]
0.4
12
0
12
0
[ -21.437850952148438, -92.4140625, 99.2021255493164, 70.50874328613281, 33.52631759643555, 0 ]
[ -21.735116958618164, -92.53486633300781, 98.94086456298828, 70.27027130126953, 33.382171630859375, 1.753246784210205 ]
0.433333
13
0
13
0
[ -21.437850952148438, -92.4140625, 99.2021255493164, 70.50874328613281, 33.52631759643555, 0 ]
[ -21.735116958618164, -92.53486633300781, 98.94086456298828, 70.27027130126953, 33.382171630859375, 1.753246784210205 ]
0.466667
14
0
14
0
[ -21.437850952148438, -92.4140625, 99.2021255493164, 70.50874328613281, 33.52631759643555, 0 ]
[ -21.735116958618164, -92.53486633300781, 98.94086456298828, 70.27027130126953, 33.382171630859375, 1.753246784210205 ]
0.5
15
0
15
0
[ -21.437850952148438, -92.4140625, 99.2021255493164, 70.50874328613281, 33.52631759643555, 0 ]
[ -21.735116958618164, -92.53486633300781, 98.94086456298828, 70.27027130126953, 33.382171630859375, 1.753246784210205 ]
0.533333
16
0
16
0
[ -21.437850952148438, -92.4140625, 99.2021255493164, 70.50874328613281, 33.52631759643555, 0 ]
[ -21.735116958618164, -92.53486633300781, 98.94086456298828, 70.27027130126953, 33.382171630859375, 1.753246784210205 ]
0.566667
17
0
17
0
[ -21.437850952148438, -92.4140625, 99.2021255493164, 70.50874328613281, 33.52631759643555, 0 ]
[ -21.735116958618164, -92.53486633300781, 98.94086456298828, 70.27027130126953, 33.382171630859375, 1.753246784210205 ]
0.6
18
0
18
0
[ -21.437850952148438, -92.4140625, 99.2021255493164, 70.50874328613281, 33.52631759643555, 0 ]
[ -21.735116958618164, -92.53486633300781, 98.94086456298828, 70.27027130126953, 33.382171630859375, 1.753246784210205 ]
0.633333
19
0
19
0
[ -21.437850952148438, -92.4140625, 99.2021255493164, 70.50874328613281, 33.52631759643555, 0 ]
[ -21.735116958618164, -92.53486633300781, 98.94086456298828, 70.27027130126953, 33.382171630859375, 1.753246784210205 ]
0.666667
20
0
20
0
[ -21.437850952148438, -92.4140625, 99.2021255493164, 70.50874328613281, 33.52631759643555, 0 ]
[ -21.735116958618164, -92.53486633300781, 98.94086456298828, 70.27027130126953, 33.382171630859375, 1.753246784210205 ]
0.7
21
0
21
0
[ -21.437850952148438, -92.4140625, 99.2021255493164, 70.50874328613281, 33.6315803527832, 0 ]
[ -21.735116958618164, -92.53486633300781, 98.94086456298828, 70.27027130126953, 33.382171630859375, 1.753246784210205 ]
0.733333
22
0
22
0
[ -21.437850952148438, -92.4140625, 99.2021255493164, 70.50874328613281, 33.73684310913086, 0 ]
[ -21.735116958618164, -92.53486633300781, 98.94086456298828, 70.27027130126953, 33.382171630859375, 1.753246784210205 ]
0.766667
23
0
23
0
[ -21.437850952148438, -92.4140625, 99.2021255493164, 70.50874328613281, 33.73684310913086, 0 ]
[ -21.735116958618164, -92.53486633300781, 98.94086456298828, 70.27027130126953, 33.382171630859375, 1.753246784210205 ]
0.8
24
0
24
0
[ -21.437850952148438, -92.4140625, 99.2021255493164, 70.50874328613281, 33.73684310913086, 0 ]
[ -21.735116958618164, -92.53486633300781, 98.94086456298828, 70.27027130126953, 33.382171630859375, 1.753246784210205 ]
0.833333
25
0
25
0
[ -21.437850952148438, -92.4140625, 99.2021255493164, 70.50874328613281, 33.578948974609375, 0 ]
[ -21.735116958618164, -92.53486633300781, 98.94086456298828, 70.27027130126953, 33.382171630859375, 1.753246784210205 ]
0.866667
26
0
26
0
[ -21.437850952148438, -92.33504486083984, 99.2021255493164, 70.50874328613281, 33.578948974609375, 0 ]
[ -21.735116958618164, -92.53486633300781, 98.94086456298828, 70.27027130126953, 33.382171630859375, 1.753246784210205 ]
0.9
27
0
27
0
[ -21.437850952148438, -92.33504486083984, 99.2021255493164, 70.50874328613281, 33.73684310913086, 0 ]
[ -21.735116958618164, -92.53486633300781, 98.94086456298828, 70.27027130126953, 33.382171630859375, 1.753246784210205 ]
0.933333
28
0
28
0
[ -21.437850952148438, -92.33504486083984, 99.2021255493164, 70.50874328613281, 33.842105865478516, 0 ]
[ -21.735116958618164, -92.53486633300781, 98.94086456298828, 70.27027130126953, 33.382171630859375, 1.753246784210205 ]
0.966667
29
0
29
0
[ -21.437850952148438, -92.25602722167969, 99.2021255493164, 70.50874328613281, 33.894737243652344, 0 ]
[ -21.735116958618164, -92.53486633300781, 98.94086456298828, 70.27027130126953, 33.382171630859375, 1.753246784210205 ]
1
30
0
30
0
[ -21.52446937561035, -92.25602722167969, 99.2021255493164, 70.50874328613281, 33.94736862182617, 0 ]
[ -21.735116958618164, -92.53486633300781, 98.94086456298828, 70.27027130126953, 33.382171630859375, 1.753246784210205 ]
1.033333
31
0
31
0
[ -21.52446937561035, -91.93994140625, 99.2021255493164, 70.34976196289062, 33.94736862182617, 0 ]
[ -21.735116958618164, -92.53486633300781, 98.94086456298828, 70.27027130126953, 33.43101501464844, 1.753246784210205 ]
1.066667
32
0
32
0
[ -21.52446937561035, -91.228759765625, 99.2021255493164, 70.03179931640625, 33.94736862182617, 0 ]
[ -21.735116958618164, -92.53486633300781, 98.94086456298828, 70.27027130126953, 33.57753372192383, 1.753246784210205 ]
1.1
33
0
33
0
[ -21.611087799072266, -89.96443939208984, 99.29077911376953, 69.87281036376953, 33.94736862182617, 0 ]
[ -21.735116958618164, -92.53486633300781, 98.94086456298828, 70.27027130126953, 33.67521286010742, 1.753246784210205 ]
1.133333
34
0
34
0
[ -21.78432273864746, -88.30501556396484, 99.11347198486328, 69.71382904052734, 33.94736862182617, 0 ]
[ -21.735116958618164, -92.45282745361328, 98.94086456298828, 70.27027130126953, 33.72405242919922, 1.753246784210205 ]
1.166667
35
0
35
0
[ -21.78432273864746, -86.40853118896484, 98.84751892089844, 69.31637573242188, 33.94736862182617, 0 ]
[ -21.735116958618164, -92.04265594482422, 98.94086456298828, 70.27027130126953, 33.72405242919922, 1.753246784210205 ]
1.2
36
0
36
0
[ -21.52446937561035, -84.19596862792969, 98.67021179199219, 68.04451751708984, 33.94736862182617, 0 ]
[ -21.735116958618164, -90.89417266845703, 98.94086456298828, 70.1858139038086, 33.82173538208008, 1.753246784210205 ]
1.233333
37
0
37
0
[ -21.351234436035156, -81.82536315917969, 98.31560516357422, 67.0111312866211, 33.94736862182617, 0 ]
[ -21.735116958618164, -89.74568939208984, 98.94086456298828, 69.76351165771484, 33.82173538208008, 1.753246784210205 ]
1.266667
38
0
38
0
[ -21.17799949645996, -79.37574005126953, 97.69503784179688, 66.21621704101562, 33.94736862182617, 0 ]
[ -21.735116958618164, -88.18704223632812, 98.94086456298828, 69.00337982177734, 33.82173538208008, 1.753246784210205 ]
1.3
39
0
39
0
[ -21.004764556884766, -76.92611694335938, 97.16312408447266, 65.65977478027344, 33.94736862182617, 0 ]
[ -21.735116958618164, -86.46431732177734, 98.94086456298828, 68.07432556152344, 33.82173538208008, 1.753246784210205 ]
1.333333
40
0
40
0
[ -21.004764556884766, -74.55551147460938, 96.54255676269531, 65.18283081054688, 33.94736862182617, 0 ]
[ -21.735116958618164, -84.65955352783203, 98.94086456298828, 67.3141860961914, 33.82173538208008, 1.753246784210205 ]
1.366667
41
0
41
0
[ -21.004764556884766, -72.26392364501953, 95.83333587646484, 64.5468978881836, 33.94736862182617, 1.448170781135559 ]
[ -21.735116958618164, -82.77276611328125, 98.58782196044922, 66.46959686279297, 33.870574951171875, 1.753246784210205 ]
1.4
42
0
42
0
[ -21.004764556884766, -70.36744689941406, 94.76950073242188, 64.3879165649414, 33.94736862182617, 3.7347559928894043 ]
[ -21.735116958618164, -80.88597106933594, 97.88172912597656, 65.7939224243164, 33.870574951171875, 1.753246784210205 ]
1.433333
43
0
43
0
[ -21.004764556884766, -68.70802307128906, 93.17375946044922, 64.3879165649414, 34, 6.25 ]
[ -21.735116958618164, -78.91714477539062, 97.26390075683594, 65.20270538330078, 33.870574951171875, 1.753246784210205 ]
1.466667
44
0
44
0
[ -21.004764556884766, -66.96957397460938, 92.10993194580078, 64.22893524169922, 34, 8.765243530273438 ]
[ -21.735116958618164, -76.86628723144531, 96.46955108642578, 64.78040313720703, 33.870574951171875, 2.402597427368164 ]
1.5
45
0
45
0
[ -20.91814613342285, -65.46819305419922, 90.42552947998047, 64.22893524169922, 34, 11.280488014221191 ]
[ -21.735116958618164, -74.89745330810547, 95.49867248535156, 64.52702331542969, 33.870574951171875, 3.441558361053467 ]
1.533333
46
0
46
0
[ -20.744911193847656, -64.20387268066406, 88.56382751464844, 64.22893524169922, 34, 13.87195110321045 ]
[ -21.735116958618164, -73.01066589355469, 94.35128021240234, 64.35810852050781, 33.870574951171875, 4.545454502105713 ]
1.566667
47
0
47
0
[ -20.22520637512207, -63.01856994628906, 86.17021179199219, 64.30842590332031, 34, 16.310976028442383 ]
[ -21.735116958618164, -71.2879409790039, 93.29214477539062, 64.27365112304688, 33.870574951171875, 6.363636493682861 ]
1.6
48
0
48
0
[ -19.792118072509766, -61.912288665771484, 83.59928894042969, 64.3879165649414, 34, 18.59756088256836 ]
[ -21.735116958618164, -69.48318481445312, 91.96822357177734, 64.27365112304688, 33.870574951171875, 8.50649356842041 ]
1.633333
49
0
49
0
[ -19.35902976989746, -61.675228118896484, 81.20567321777344, 64.5468978881836, 34, 20.579267501831055 ]
[ -21.5505313873291, -67.84249114990234, 90.55604553222656, 64.35810852050781, 33.870574951171875, 10.714285850524902 ]
1.666667
50
0
50
0
[ -19.09917640686035, -60.726985931396484, 78.81205749511719, 64.5468978881836, 34, 21.72256088256836 ]
[ -21.08906364440918, -66.2838363647461, 89.32038879394531, 64.61148834228516, 33.870574951171875, 12.922078132629395 ]
1.7
51
0
51
0
[ -19.185794830322266, -59.778743743896484, 76.7730484008789, 64.4674072265625, 34, 22.713415145874023 ]
[ -20.71988868713379, -64.39704895019531, 87.8199462890625, 65.03378295898438, 33.870574951171875, 15.324675559997559 ]
1.733333
52
0
52
0
[ -19.70549964904785, -59.067562103271484, 75.70922088623047, 64.3879165649414, 34, 23.475608825683594 ]
[ -20.443008422851562, -63.084495544433594, 86.23124694824219, 65.11824035644531, 33.82173538208008, 17.337661743164062 ]
1.766667
53
0
53
0
[ -20.398441314697266, -58.119319915771484, 74.91134643554688, 64.3879165649414, 34, 23.704267501831055 ]
[ -20.258420944213867, -62.01804733276367, 84.46601867675781, 65.11824035644531, 33.82173538208008, 18.96103858947754 ]
1.8
54
0
54
0
[ -21.17799949645996, -56.775978088378906, 74.02482604980469, 64.3879165649414, 34.05263137817383, 23.704267501831055 ]
[ -20.258420944213867, -61.033634185791016, 82.8773193359375, 65.11824035644531, 33.82173538208008, 20.324674606323242 ]
1.833333
55
0
55
0
[ -21.697704315185547, -55.19557571411133, 73.31560516357422, 64.3879165649414, 34.105262756347656, 23.704267501831055 ]
[ -20.258420944213867, -60.21329116821289, 81.46513366699219, 65.11824035644531, 33.82173538208008, 21.428571701049805 ]
1.866667
56
0
56
0
[ -22.13079261779785, -53.37811279296875, 71.80850982666016, 64.4674072265625, 34.105262756347656, 23.704267501831055 ]
[ -20.258420944213867, -59.0648078918457, 80.22947692871094, 65.11824035644531, 33.82173538208008, 22.077922821044922 ]
1.9
57
0
57
0
[ -22.304027557373047, -51.48162841796875, 70.12411499023438, 64.62638854980469, 34.105262756347656, 23.704267501831055 ]
[ -20.35071563720703, -57.83428955078125, 79.08208465576172, 65.11824035644531, 33.82173538208008, 22.597402572631836 ]
1.933333
58
0
58
0
[ -22.304027557373047, -49.26906204223633, 67.90779876708984, 64.62638854980469, 34.105262756347656, 23.704267501831055 ]
[ -20.627595901489258, -56.43970489501953, 77.93468475341797, 65.11824035644531, 33.82173538208008, 22.85714340209961 ]
1.966667
59
0
59
0
[ -22.304027557373047, -46.898460388183594, 65.42552947998047, 64.62638854980469, 34.105262756347656, 23.780487060546875 ]
[ -20.996768951416016, -54.88105010986328, 76.69902801513672, 65.11824035644531, 33.82173538208008, 23.11688232421875 ]
2
60
0
60
0
[ -22.39064598083496, -44.369815826416016, 63.120567321777344, 64.70587921142578, 34.157894134521484, 23.780487060546875 ]
[ -21.273651123046875, -53.1583251953125, 75.1103286743164, 65.11824035644531, 33.82173538208008, 23.246753692626953 ]
2.033333
61
0
61
0
[ -22.39064598083496, -41.762149810791016, 60.81560134887695, 64.8648681640625, 34.21052551269531, 23.780487060546875 ]
[ -21.458236694335938, -51.18949890136719, 73.34510040283203, 65.11824035644531, 33.82173538208008, 23.376623153686523 ]
2.066667
62
0
62
0
[ -22.563880920410156, -39.154483795166016, 58.59928894042969, 64.8648681640625, 34.78947448730469, 23.780487060546875 ]
[ -21.642824172973633, -49.13863754272461, 71.49161529541016, 65.11824035644531, 33.82173538208008, 23.506492614746094 ]
2.1
63
0
63
0
[ -22.99696922302246, -36.546817779541016, 56.914894104003906, 64.9443588256836, 35.78947448730469, 23.780487060546875 ]
[ -21.642824172973633, -46.9237060546875, 69.28508758544922, 65.11824035644531, 33.82173538208008, 23.506492614746094 ]
2.133333
64
0
64
0
[ -23.516674041748047, -34.09719467163086, 55.23049545288086, 65.02384948730469, 36.3684196472168, 23.780487060546875 ]
[ -21.642824172973633, -44.544708251953125, 67.07855224609375, 65.11824035644531, 33.91941452026367, 23.506492614746094 ]
2.166667
65
0
65
0
[ -24.036378860473633, -31.33148956298828, 53.45744705200195, 65.02384948730469, 36.421051025390625, 23.780487060546875 ]
[ -21.735116958618164, -42.083675384521484, 65.04854583740234, 65.11824035644531, 34.31013488769531, 23.506492614746094 ]
2.2
66
0
66
0
[ -24.729320526123047, -29.039905548095703, 52.039005279541016, 64.9443588256836, 36.68421173095703, 23.780487060546875 ]
[ -22.196584701538086, -39.622642517089844, 63.01853561401367, 65.11824035644531, 34.993896484375, 23.506492614746094 ]
2.233333
67
0
67
0
[ -25.595495223999023, -26.590280532836914, 50.44326400756836, 64.9443588256836, 36.47368240356445, 23.780487060546875 ]
[ -22.658052444458008, -37.07957458496094, 61.076786041259766, 65.11824035644531, 35.57997512817383, 23.506492614746094 ]
2.266667
68
0
68
0
[ -26.201818466186523, -24.061635971069336, 48.75886535644531, 64.9443588256836, 36.421051025390625, 23.704267501831055 ]
[ -23.11952018737793, -34.454471588134766, 59.311561584472656, 65.11824035644531, 35.92185592651367, 23.506492614746094 ]
2.3
69
0
69
0
[ -26.548290252685547, -22.007112503051758, 47.60638427734375, 64.8648681640625, 36.68421173095703, 23.551828384399414 ]
[ -23.765575408935547, -31.993436813354492, 57.54633712768555, 65.11824035644531, 36.019535064697266, 23.506492614746094 ]
2.333333
70
0
70
0
[ -26.808141708374023, -19.79454803466797, 46.01063919067383, 64.78536987304688, 36.68421173095703, 23.475608825683594 ]
[ -24.503923416137695, -29.36833381652832, 55.8693733215332, 65.11824035644531, 36.16605758666992, 23.506492614746094 ]
2.366667
71
0
71
0
[ -27.154611587524414, -17.66100311279297, 44.59219741821289, 64.5468978881836, 36.73684310913086, 23.399391174316406 ]
[ -25.05768394470215, -26.825265884399414, 54.280670166015625, 65.11824035644531, 36.263736724853516, 23.506492614746094 ]
2.4
72
0
72
0
[ -27.501083374023438, -15.764519691467285, 43.17375946044922, 64.5468978881836, 36.73684310913086, 23.323171615600586 ]
[ -25.51915168762207, -24.282197952270508, 52.69196701049805, 65.11824035644531, 36.36141586303711, 23.506492614746094 ]
2.433333
73
0
73
0
[ -27.847553253173828, -14.026076316833496, 41.75531768798828, 64.4674072265625, 36.73684310913086, 23.246952056884766 ]
[ -25.888324737548828, -21.821165084838867, 51.10326385498047, 65.11824035644531, 36.507938385009766, 23.506492614746094 ]
2.466667
74
0
74
0
[ -28.280641555786133, -12.445673942565918, 40.60283660888672, 64.3879165649414, 36.73684310913086, 23.246952056884766 ]
[ -26.34979248046875, -19.524200439453125, 49.60282516479492, 65.11824035644531, 36.4590950012207, 23.506492614746094 ]
2.5
75
0
75
0
[ -28.627111434936523, -11.023310661315918, 39.450355529785156, 64.30842590332031, 36.73684310913086, 23.246952056884766 ]
[ -26.718965530395508, -17.39130401611328, 48.10238265991211, 65.11824035644531, 36.410255432128906, 23.506492614746094 ]
2.533333
76
0
76
0
[ -28.886964797973633, -9.363887786865234, 38.20922088623047, 64.22893524169922, 36.73684310913086, 23.246952056884766 ]
[ -27.0881404876709, -15.258408546447754, 46.778465270996094, 65.11824035644531, 36.410255432128906, 23.506492614746094 ]
2.566667
77
0
77
0
[ -29.14681625366211, -7.704464435577393, 37.05673599243164, 64.22893524169922, 36.78947448730469, 23.246952056884766 ]
[ -27.457313537597656, -13.37161636352539, 45.36628341674805, 65.11824035644531, 36.410255432128906, 23.506492614746094 ]
2.6
78
0
78
0
[ -29.40666961669922, -6.598182678222656, 35.9929084777832, 64.22893524169922, 36.78947448730469, 23.170732498168945 ]
[ -27.826488494873047, -11.566858291625977, 44.04236602783203, 65.11824035644531, 36.410255432128906, 23.506492614746094 ]
2.633333
79
0
79
0
[ -29.839757919311523, -5.807981014251709, 35.017730712890625, 64.22893524169922, 36.78947448730469, 23.170732498168945 ]
[ -28.103368759155273, -9.926169395446777, 42.71844482421875, 64.8648681640625, 36.410255432128906, 23.506492614746094 ]
2.666667
80
0
80
0
[ -30.099609375, -4.30659818649292, 33.86524963378906, 64.22893524169922, 36.78947448730469, 23.170732498168945 ]
[ -28.47254180908203, -8.285479545593262, 41.4827880859375, 64.61148834228516, 36.410255432128906, 23.506492614746094 ]
2.7
81
0
81
0
[ -30.446081161499023, -3.0422756671905518, 32.80141830444336, 64.22893524169922, 36.78947448730469, 23.170732498168945 ]
[ -28.74942398071289, -6.890894412994385, 40.42365264892578, 64.35810852050781, 36.410255432128906, 23.506492614746094 ]
2.733333
82
0
82
0
[ -30.879167556762695, -2.1730542182922363, 32.00354766845703, 64.22893524169922, 36.78947448730469, 23.170732498168945 ]
[ -29.026304244995117, -5.496308326721191, 39.2762565612793, 64.35810852050781, 36.410255432128906, 23.506492614746094 ]
2.766667
83
0
83
0
[ -31.139020919799805, -1.3828526735305786, 31.382978439331055, 64.22893524169922, 36.78947448730469, 23.094512939453125 ]
[ -29.395477294921875, -4.019688129425049, 38.12886047363281, 64.35810852050781, 36.410255432128906, 23.506492614746094 ]
2.8
84
0
84
0
[ -31.22563934326172, -0.5926511287689209, 30.939716339111328, 64.22893524169922, 36.78947448730469, 23.094512939453125 ]
[ -29.764652252197266, -2.7891714572906494, 37.069725036621094, 64.27365112304688, 36.410255432128906, 23.506492614746094 ]
2.833333
85
0
85
0
[ -31.22563934326172, 0.19755037128925323, 30.407800674438477, 64.22893524169922, 36.78947448730469, 23.094512939453125 ]
[ -30.041532516479492, -1.7227236032485962, 36.18711471557617, 64.1891860961914, 36.410255432128906, 23.506492614746094 ]
2.866667
86
0
86
0
[ -30.96578598022461, 0.9087316989898682, 30.053192138671875, 64.14944458007812, 36.78947448730469, 23.094512939453125 ]
[ -30.31841278076172, -0.7383100986480713, 35.39276123046875, 64.10472869873047, 36.410255432128906, 23.506492614746094 ]
2.9
87
0
87
0
[ -30.7059326171875, 1.619913101196289, 29.787233352661133, 64.14944458007812, 36.78947448730469, 23.018293380737305 ]
[ -30.503000259399414, 0.24610336124897003, 34.68667221069336, 64.10472869873047, 36.410255432128906, 23.506492614746094 ]
2.933333
88
0
88
0
[ -30.61931610107422, 2.2520742416381836, 29.787233352661133, 64.14944458007812, 36.78947448730469, 23.018293380737305 ]
[ -30.595293045043945, 1.148482322692871, 34.068843841552734, 64.10472869873047, 36.410255432128906, 23.506492614746094 ]
2.966667
89
0
89
0
[ -30.61931610107422, 2.805215358734131, 29.787233352661133, 64.14944458007812, 36.842105865478516, 23.018293380737305 ]
[ -30.595293045043945, 1.8047579526901245, 33.62753677368164, 64.10472869873047, 36.507938385009766, 23.506492614746094 ]
3
90
0
90
0
[ -30.61931610107422, 3.358356475830078, 29.787233352661133, 64.14944458007812, 36.842105865478516, 22.713415145874023 ]
[ -30.595293045043945, 2.296964645385742, 33.18622970581055, 64.27365112304688, 36.55677795410156, 23.506492614746094 ]
3.033333
91
0
91
0
[ -30.61931610107422, 3.832477331161499, 29.787233352661133, 64.14944458007812, 37.157894134521484, 21.341463088989258 ]
[ -30.595293045043945, 2.8712058067321777, 32.74492645263672, 64.44256591796875, 36.55677795410156, 23.506492614746094 ]
3.066667
92
0
92
0
[ -30.61931610107422, 4.148557662963867, 29.96453857421875, 64.14944458007812, 37.78947448730469, 19.283536911010742 ]
[ -30.595293045043945, 3.2813782691955566, 32.303619384765625, 64.61148834228516, 36.60561752319336, 23.506492614746094 ]
3.1
93
0
93
0
[ -30.532697677612305, 4.464638710021973, 29.96453857421875, 64.14944458007812, 38.21052551269531, 16.692073822021484 ]
[ -30.595293045043945, 3.6915504932403564, 31.950572967529297, 64.6959457397461, 36.654457092285156, 23.11688232421875 ]
3.133333
94
0
94
0
[ -30.446081161499023, 4.622678756713867, 29.96453857421875, 64.14944458007812, 38.26315689086914, 13.87195110321045 ]
[ -30.595293045043945, 4.019688129425049, 31.685789108276367, 64.6959457397461, 36.996337890625, 22.077922821044922 ]
3.166667
95
0
95
0
[ -30.446081161499023, 4.859739303588867, 29.875886917114258, 64.14944458007812, 38.26315689086914, 10.89939022064209 ]
[ -30.872173309326172, 4.265791416168213, 31.421005249023438, 64.44256591796875, 37.38705825805664, 20.649351119995117 ]
3.2
96
0
96
0
[ -30.35946273803711, 4.859739303588867, 29.875886917114258, 64.06995391845703, 38.26315689086914, 7.9268293380737305 ]
[ -31.1490535736084, 4.429860591888428, 31.15622329711914, 64.10472869873047, 37.68009948730469, 18.83116912841797 ]
3.233333
97
0
97
0
[ -30.272846221923828, 4.859739303588867, 29.875886917114258, 64.06995391845703, 38.26315689086914, 5.3353657722473145 ]
[ -31.333641052246094, 4.675963878631592, 30.89143943786621, 64.02027130126953, 37.82661819458008, 16.623376846313477 ]
3.266667
98
0
98
0
[ -29.926374435424805, 4.859739303588867, 30.141843795776367, 63.6724967956543, 38.26315689086914, 3.5060975551605225 ]
[ -31.333641052246094, 4.757998466491699, 30.714916229248047, 64.02027130126953, 37.92429733276367, 14.285714149475098 ]
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_follower",
    "total_episodes": 10,
    "total_frames": 2993,
    "total_tasks": 1,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:10"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": null,
    "features": {
        "action": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ]
        },
        "observation.images.gripper": {
            "dtype": "image",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ]
        },
        "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
9
License:
apache-2.0
Size of downloaded dataset files:
1.13 GB
Size of the auto-converted Parquet files:
1.13 GB
Number of rows:
2,993