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Datasets:
shuohsuan
/
grasp_data_tg_10

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
camera
top
gripper
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
Community
1
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action
sequence
observation.state
sequence
timestamp
float32
0
16.6
frame_index
int64
0
498
episode_index
int64
0
9
index
int64
0
4.06k
task_index
int64
0
0
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72
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[ 3.427734375, 190.458984375, 179.296875, 51.328125, -87.890625, 0.276752769947052 ]
[ 1.93359375, 191.77734375, 179.736328125, 59.0625, -88.330078125, 0.8215085864067078 ]
2.433333
73
0
73
0
[ 3.779296875, 189.4921875, 179.296875, 48.603515625, -88.06640625, 0.18450184166431427 ]
[ 2.109375, 191.162109375, 179.736328125, 56.6015625, -88.154296875, 0.8215085864067078 ]
2.466667
74
0
74
0
[ 4.21875, 188.173828125, 179.296875, 45.791015625, -88.681640625, 0.18450184166431427 ]
[ 2.548828125, 190.634765625, 179.736328125, 54.140625, -88.154296875, 0.8215085864067078 ]
2.5
75
0
75
0
[ 4.658203125, 186.943359375, 179.296875, 43.2421875, -89.12109375, 0.18450184166431427 ]
[ 2.98828125, 189.84375, 179.736328125, 51.6796875, -88.154296875, 0.8215085864067078 ]
2.533333
76
0
76
0
[ 5.185546875, 185.44921875, 179.033203125, 41.220703125, -90.087890625, 0.18450184166431427 ]
[ 3.427734375, 188.61328125, 179.736328125, 48.955078125, -88.330078125, 0.7468259930610657 ]
2.566667
77
0
77
0
[ 5.80078125, 183.33984375, 178.330078125, 39.375, -90.52734375, 0.18450184166431427 ]
[ 3.8671875, 187.470703125, 179.736328125, 46.58203125, -88.681640625, 0.7468259930610657 ]
2.6
78
0
78
0
[ 6.416015625, 181.142578125, 177.275390625, 37.96875, -90.791015625, 0.18450184166431427 ]
[ 4.306640625, 185.9765625, 179.736328125, 44.384765625, -89.208984375, 0.7468259930610657 ]
2.633333
79
0
79
0
[ 7.119140625, 178.59375, 175.693359375, 37.08984375, -90.791015625, 0.18450184166431427 ]
[ 4.833984375, 184.130859375, 179.736328125, 42.451171875, -89.82421875, 0.7468259930610657 ]
2.666667
80
0
80
0
[ 7.734375, 175.4296875, 173.583984375, 36.650390625, -90.615234375, 0.18450184166431427 ]
[ 5.44921875, 182.021484375, 179.560546875, 40.869140625, -90.17578125, 0.7468259930610657 ]
2.7
81
0
81
0
[ 8.26171875, 172.001953125, 170.859375, 36.650390625, -90.087890625, 0.18450184166431427 ]
[ 6.064453125, 179.82421875, 178.9453125, 39.814453125, -90.263671875, 0.7468259930610657 ]
2.733333
82
0
82
0
[ 8.701171875, 169.27734375, 168.310546875, 36.650390625, -89.560546875, 0.18450184166431427 ]
[ 6.6796875, 177.099609375, 177.71484375, 39.111328125, -90.263671875, 0.7468259930610657 ]
2.766667
83
0
83
0
[ 9.140625, 166.728515625, 165.849609375, 36.650390625, -89.033203125, 0.18450184166431427 ]
[ 7.294921875, 173.84765625, 175.95703125, 38.759765625, -90.263671875, 0.7468259930610657 ]
2.8
84
0
84
0
[ 9.4921875, 164.443359375, 163.388671875, 36.650390625, -88.59375, 0.18450184166431427 ]
[ 7.822265625, 171.298828125, 173.935546875, 38.49609375, -90, 0.7468259930610657 ]
2.833333
85
0
85
0
[ 9.84375, 162.24609375, 160.927734375, 36.73828125, -88.330078125, 0.18450184166431427 ]
[ 8.26171875, 168.75, 171.650390625, 38.232421875, -89.560546875, 0.7468259930610657 ]
2.866667
86
0
86
0
[ 10.01953125, 160.224609375, 158.37890625, 37.001953125, -87.890625, 0.18450184166431427 ]
[ 8.701171875, 166.11328125, 169.27734375, 38.056640625, -89.12109375, 0.7468259930610657 ]
2.9
87
0
87
0
[ 10.283203125, 158.291015625, 156.005859375, 37.44140625, -87.71484375, 0.18450184166431427 ]
[ 9.140625, 164.00390625, 166.9921875, 38.056640625, -88.857421875, 0.7468259930610657 ]
2.933333
88
0
88
0
[ 10.458984375, 156.533203125, 153.80859375, 37.880859375, -87.626953125, 0.18450184166431427 ]
[ 9.404296875, 161.806640625, 164.53125, 38.056640625, -88.41796875, 0.7468259930610657 ]
2.966667
89
0
89
0
[ 10.72265625, 154.6875, 151.611328125, 38.49609375, -87.626953125, 0.18450184166431427 ]
[ 9.66796875, 159.521484375, 161.982421875, 38.14453125, -88.2421875, 0.7468259930610657 ]
3
90
0
90
0
[ 10.986328125, 152.75390625, 149.4140625, 39.375, -87.626953125, 0.18450184166431427 ]
[ 9.84375, 157.763671875, 159.697265625, 38.232421875, -88.154296875, 0.7468259930610657 ]
3.033333
91
0
91
0
[ 11.42578125, 150.908203125, 147.392578125, 39.990234375, -87.626953125, 0.18450184166431427 ]
[ 10.107421875, 156.005859375, 157.412109375, 38.49609375, -88.154296875, 0.7468259930610657 ]
3.066667
92
0
92
0
[ 11.953125, 149.501953125, 145.810546875, 40.4296875, -88.06640625, 0.18450184166431427 ]
[ 10.37109375, 153.896484375, 155.0390625, 39.111328125, -88.154296875, 0.7468259930610657 ]
3.1
93
0
93
0
[ 12.65625, 148.53515625, 144.84375, 40.517578125, -88.41796875, 0.553505539894104 ]
[ 10.810546875, 152.05078125, 152.841796875, 39.638671875, -87.978515625, 0.7468259930610657 ]
3.133333
94
0
94
0
[ 13.447265625, 147.48046875, 143.876953125, 40.517578125, -89.033203125, 1.107011079788208 ]
[ 11.25, 150.64453125, 150.99609375, 39.90234375, -87.978515625, 0.7468259930610657 ]
3.166667
95
0
95
0
[ 14.4140625, 146.07421875, 143.0859375, 40.517578125, -89.912109375, 1.8450183868408203 ]
[ 11.77734375, 149.23828125, 149.501953125, 40.078125, -87.978515625, 0.7468259930610657 ]
3.2
96
0
96
0
[ 15.46875, 144.31640625, 142.119140625, 40.4296875, -90.791015625, 2.4907748699188232 ]
[ 12.392578125, 148.0078125, 148.18359375, 40.25390625, -88.2421875, 0.7468259930610657 ]
3.233333
97
0
97
0
[ 16.69921875, 142.470703125, 141.15234375, 40.166015625, -90.966796875, 3.966789722442627 ]
[ 13.271484375, 146.42578125, 146.953125, 40.25390625, -88.9453125, 1.120239019393921 ]
3.266667
98
0
98
0
[ 17.9296875, 140.44921875, 140.09765625, 39.7265625, -91.318359375, 5.62730598449707 ]
[ 14.150390625, 144.931640625, 145.986328125, 40.25390625, -89.736328125, 1.4936519861221313 ]
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": "so100",
    "total_episodes": 10,
    "total_frames": 4065,
    "total_tasks": 1,
    "total_videos": 20,
    "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": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "shape": [
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            "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": [
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                640,
                3
            ],
            "names": [
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                "width",
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            "info": {
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                "video.pix_fmt": "yuv420p",
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        "observation.images.phone": {
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            "names": [
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                "channels"
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            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "video.channels": 3,
                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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