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Datasets:
Jamesbass
/
koch_test_socket

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
tutorial
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action
sequence
observation.state
sequence
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
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[ -13.7109375, 43.76953125, 51.15234375, 40.78125, -182.63671875, 35.771484375 ]
2.4
72
0
72
0
[ -13.974609375, 49.74609375, 49.482421875, 53.4375, -181.845703125, 35.5078125 ]
[ -13.7109375, 44.6484375, 51.15234375, 44.912109375, -182.548828125, 35.771484375 ]
2.433333
73
0
73
0
[ -14.0625, 50.09765625, 49.5703125, 55.546875, -181.845703125, 35.5078125 ]
[ -13.7109375, 45.17578125, 51.15234375, 47.724609375, -182.548828125, 35.771484375 ]
2.466667
74
0
74
0
[ -14.150390625, 50.537109375, 49.482421875, 57.744140625, -181.845703125, 35.419921875 ]
[ -13.798828125, 45.615234375, 51.15234375, 50.9765625, -182.4609375, 35.771484375 ]
2.5
75
0
75
0
[ -14.0625, 51.328125, 49.482421875, 59.58984375, -181.845703125, 35.419921875 ]
[ -13.798828125, 45.791015625, 51.15234375, 53.349609375, -182.4609375, 35.771484375 ]
2.533333
76
0
76
0
[ -14.0625, 52.20703125, 49.482421875, 62.05078125, -181.7578125, 35.33203125 ]
[ -13.798828125, 46.23046875, 51.15234375, 55.986328125, -182.4609375, 35.771484375 ]
2.566667
77
0
77
0
[ -14.0625, 53.26171875, 49.482421875, 64.248046875, -181.7578125, 35.244140625 ]
[ -13.798828125, 46.845703125, 51.15234375, 58.0078125, -182.373046875, 35.771484375 ]
2.6
78
0
78
0
[ -14.0625, 53.96484375, 49.482421875, 66.181640625, -181.669921875, 35.244140625 ]
[ -13.798828125, 47.63671875, 51.15234375, 59.853515625, -182.373046875, 35.771484375 ]
2.633333
79
0
79
0
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[ -13.798828125, 48.603515625, 51.15234375, 61.962890625, -182.373046875, 35.771484375 ]
2.666667
80
0
80
0
[ -14.326171875, 55.37109375, 49.658203125, 68.37890625, -181.142578125, 35.244140625 ]
[ -13.798828125, 49.658203125, 51.15234375, 63.80859375, -182.373046875, 35.771484375 ]
2.7
81
0
81
0
[ -14.853515625, 55.8984375, 49.74609375, 68.37890625, -179.47265625, 35.244140625 ]
[ -13.798828125, 50.625, 51.15234375, 65.390625, -182.197265625, 35.771484375 ]
2.733333
82
0
82
0
[ -15.380859375, 56.337890625, 49.833984375, 68.37890625, -178.2421875, 35.244140625 ]
[ -13.974609375, 51.328125, 51.15234375, 66.26953125, -181.58203125, 35.771484375 ]
2.766667
83
0
83
0
[ -15.908203125, 57.392578125, 50.537109375, 68.37890625, -176.66015625, 35.244140625 ]
[ -14.150390625, 52.03125, 51.15234375, 66.796875, -180.52734375, 35.771484375 ]
2.8
84
0
84
0
[ -16.435546875, 58.974609375, 51.6796875, 68.37890625, -174.814453125, 35.244140625 ]
[ -14.501953125, 52.646484375, 51.328125, 66.97265625, -179.47265625, 35.771484375 ]
2.833333
85
0
85
0
[ -17.138671875, 60.205078125, 52.822265625, 68.37890625, -174.19921875, 35.244140625 ]
[ -15.1171875, 53.7890625, 52.470703125, 66.97265625, -177.890625, 35.771484375 ]
2.866667
86
0
86
0
[ -17.666015625, 61.34765625, 54.31640625, 68.37890625, -174.0234375, 35.244140625 ]
[ -15.8203125, 54.931640625, 53.7890625, 67.060546875, -176.484375, 35.771484375 ]
2.9
87
0
87
0
[ -18.369140625, 61.962890625, 55.107421875, 68.37890625, -173.935546875, 35.244140625 ]
[ -16.5234375, 56.162109375, 55.1953125, 67.060546875, -175.4296875, 35.771484375 ]
2.933333
88
0
88
0
[ -19.248046875, 62.490234375, 55.72265625, 68.37890625, -173.759765625, 35.244140625 ]
[ -17.314453125, 57.392578125, 56.513671875, 67.060546875, -174.814453125, 35.771484375 ]
2.966667
89
0
89
0
[ -20.302734375, 62.40234375, 55.634765625, 68.203125, -172.96875, 35.244140625 ]
[ -18.10546875, 58.0078125, 57.12890625, 67.060546875, -174.462890625, 35.771484375 ]
3
90
0
90
0
[ -21.357421875, 62.490234375, 55.634765625, 68.203125, -172.177734375, 35.33203125 ]
[ -18.896484375, 58.447265625, 57.12890625, 67.060546875, -173.935546875, 35.771484375 ]
3.033333
91
0
91
0
[ -22.1484375, 62.490234375, 55.634765625, 67.939453125, -172.265625, 35.33203125 ]
[ -19.86328125, 58.53515625, 57.12890625, 67.060546875, -173.408203125, 35.771484375 ]
3.066667
92
0
92
0
[ -22.939453125, 62.314453125, 55.546875, 67.32421875, -172.265625, 35.33203125 ]
[ -20.7421875, 58.53515625, 57.12890625, 67.060546875, -172.96875, 35.771484375 ]
3.1
93
0
93
0
[ -24.08203125, 62.138671875, 55.458984375, 66.26953125, -172.177734375, 35.33203125 ]
[ -21.796875, 58.53515625, 57.216796875, 67.060546875, -172.6171875, 35.771484375 ]
3.133333
94
0
94
0
[ -25.13671875, 61.69921875, 55.37109375, 64.775390625, -171.474609375, 35.5078125 ]
[ -22.8515625, 58.447265625, 57.216796875, 66.97265625, -172.529296875, 35.771484375 ]
3.166667
95
0
95
0
[ -26.19140625, 60.8203125, 55.283203125, 63.017578125, -170.419921875, 35.244140625 ]
[ -23.73046875, 58.447265625, 57.216796875, 66.884765625, -172.44140625, 35.771484375 ]
3.2
96
0
96
0
[ -27.0703125, 60.380859375, 55.1953125, 62.138671875, -170.15625, 35.244140625 ]
[ -24.697265625, 58.447265625, 57.216796875, 65.91796875, -171.9140625, 35.771484375 ]
3.233333
97
0
97
0
[ -28.037109375, 59.58984375, 54.4921875, 61.787109375, -169.892578125, 35.244140625 ]
[ -25.6640625, 58.447265625, 57.216796875, 64.775390625, -171.298828125, 35.771484375 ]
3.266667
98
0
98
0
[ -29.091796875, 58.88671875, 53.7890625, 61.787109375, -169.716796875, 35.244140625 ]
[ -26.630859375, 58.271484375, 57.216796875, 63.720703125, -170.771484375, 35.771484375 ]
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": "koch",
    "total_episodes": 2,
    "total_frames": 624,
    "total_tasks": 1,
    "total_videos": 4,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "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.follower_cam": {
            "dtype": "video",
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
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                "width",
                "channels"
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                "video.width": 1280,
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                "video.is_depth_map": false,
                "has_audio": false
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        },
        "observation.images.web_cam": {
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            "shape": [
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            "names": [
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                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 720,
                "video.width": 1280,
                "video.channels": 3,
                "video.codec": "av1",
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                "video.is_depth_map": false,
                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
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            ],
            "names": null
        },
        "index": {
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        },
        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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