Hugging Face's logo

Datasets:
JoSTR
/
GraspTape

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
Community
1
Dataset Viewer
Auto-converted to Parquet Duplicate
Search is not available for this dataset
action
sequence
observation.state
sequence
timestamp
float32
0
41.9
frame_index
int64
0
1.26k
episode_index
int64
0
41
index
int64
0
36.5k
task_index
int64
0
0
[ 60, -200, 300, 800 ]
[ 60, -200, 300, 801 ]
0
0
0
0
0
[ 60, -200, 300, 800 ]
[ 60, -200, 300, 801 ]
0.033333
1
0
1
0
[ 60, -200, 300, 800 ]
[ 60, -200, 300, 801 ]
0.066667
2
0
2
0
[ 60, -200, 300, 800 ]
[ 60, -200, 300, 801 ]
0.1
3
0
3
0
[ 60, -200, 300, 800 ]
[ 60, -200, 300, 801 ]
0.133333
4
0
4
0
[ 60, -200, 300, 800 ]
[ 60, -200, 300, 801 ]
0.166667
5
0
5
0
[ 60, -200, 300, 800 ]
[ 60, -200, 300, 801 ]
0.2
6
0
6
0
[ 60, -200, 300, 800 ]
[ 60, -200, 300, 801 ]
0.233333
7
0
7
0
[ 60, -200, 300, 800 ]
[ 60, -200, 300, 801 ]
0.266667
8
0
8
0
[ 60, -200, 300, 800 ]
[ 60, -200, 300, 801 ]
0.3
9
0
9
0
[ 60, -200, 300, 800 ]
[ 60, -200, 300, 801 ]
0.333333
10
0
10
0
[ 60, -200, 300, 800 ]
[ 60, -200, 300, 801 ]
0.366667
11
0
11
0
[ 60, -200, 300, 800 ]
[ 60, -200, 300, 801 ]
0.4
12
0
12
0
[ 60, -200, 300, 800 ]
[ 60, -200, 300, 801 ]
0.433333
13
0
13
0
[ 60, -200, 300, 800 ]
[ 60, -200, 300, 801 ]
0.466667
14
0
14
0
[ 60, -200, 300, 800 ]
[ 60, -200, 300, 801 ]
0.5
15
0
15
0
[ 60, -200, 300, 800 ]
[ 60, -200, 300, 801 ]
0.533333
16
0
16
0
[ 60, -200, 300, 800 ]
[ 60, -200, 300, 801 ]
0.566667
17
0
17
0
[ 60, -200, 300, 800 ]
[ 60, -200, 300, 801 ]
0.6
18
0
18
0
[ 60, -200, 300, 800 ]
[ 60, -200, 300, 801 ]
0.633333
19
0
19
0
[ 60, -200, 300, 800 ]
[ 60, -200, 300, 801 ]
0.666667
20
0
20
0
[ 60, -200, 300, 800 ]
[ 60, -200, 300, 801 ]
0.7
21
0
21
0
[ 60, -200, 300, 800 ]
[ 60, -200, 300, 801 ]
0.733333
22
0
22
0
[ 60, -200, 300, 800 ]
[ 60, -200, 300, 801 ]
0.766667
23
0
23
0
[ 60, -200, 300, 800 ]
[ 60, -200, 300, 801 ]
0.8
24
0
24
0
[ 60, -200, 300, 800 ]
[ 60, -200, 300, 801 ]
0.833333
25
0
25
0
[ 60, -200, 300, 800 ]
[ 60, -200, 300, 801 ]
0.866667
26
0
26
0
[ 60, -200, 300, 800 ]
[ 60, -200, 300, 801 ]
0.9
27
0
27
0
[ 60, -200, 300, 800 ]
[ 60, -200, 300, 801 ]
0.933333
28
0
28
0
[ 60, -200, 300, 800 ]
[ 60, -200, 300, 801 ]
0.966667
29
0
29
0
[ 60, -200, 300, 800 ]
[ 60, -200, 300, 801 ]
1
30
0
30
0
[ 60, -200, 300, 800 ]
[ 60, -200, 300, 801 ]
1.033333
31
0
31
0
[ 60, -200, 300, 800 ]
[ 60, -200, 300, 801 ]
1.066667
32
0
32
0
[ 60, -200, 300, 800 ]
[ 60, -200, 300, 801 ]
1.1
33
0
33
0
[ 62, -200, 300, 800 ]
[ 60, -200, 300, 801 ]
1.133333
34
0
34
0
[ 64.00000762939453, -200.00001525878906, 299.9999694824219, 800 ]
[ 62.000003814697266, -200.00001525878906, 299.9999694824219, 801 ]
1.166667
35
0
35
0
[ 66.00000762939453, -200.00003051757812, 299.99993896484375, 800 ]
[ 64.00000762939453, -200.00003051757812, 299.99993896484375, 801 ]
1.2
36
0
36
0
[ 66.00000762939453, -200.0000457763672, 299.9999084472656, 800 ]
[ 66.00000762939453, -200.0000457763672, 299.9999084472656, 801 ]
1.233333
37
0
37
0
[ 66.00000762939453, -200.0000457763672, 299.9999084472656, 800 ]
[ 66.00000762939453, -200.0000457763672, 299.9999084472656, 801 ]
1.266667
38
0
38
0
[ 66.00000762939453, -200.0000457763672, 299.9999084472656, 800 ]
[ 66.00000762939453, -200.0000457763672, 299.9999084472656, 801 ]
1.3
39
0
39
0
[ 66.00000762939453, -200.0000457763672, 299.9999084472656, 800 ]
[ 66.00000762939453, -200.0000457763672, 299.9999084472656, 801 ]
1.333333
40
0
40
0
[ 66.00000762939453, -200.0000457763672, 299.9999084472656, 800 ]
[ 66.00000762939453, -200.0000457763672, 299.9999084472656, 801 ]
1.366667
41
0
41
0
[ 66.00000762939453, -200.0000457763672, 299.9999084472656, 800 ]
[ 66.00000762939453, -200.0000457763672, 299.9999084472656, 801 ]
1.4
42
0
42
0
[ 66.00000762939453, -200.0000457763672, 299.9999084472656, 800 ]
[ 66.00000762939453, -200.0000457763672, 299.9999084472656, 801 ]
1.433333
43
0
43
0
[ 66.00000762939453, -200.0000457763672, 299.9999084472656, 800 ]
[ 66.00000762939453, -200.0000457763672, 299.9999084472656, 801 ]
1.466667
44
0
44
0
[ 66.00000762939453, -200.0000457763672, 299.9999084472656, 800 ]
[ 66.00000762939453, -200.0000457763672, 299.9999084472656, 801 ]
1.5
45
0
45
0
[ 66.00000762939453, -200.0000457763672, 299.9999084472656, 800 ]
[ 66.00000762939453, -200.0000457763672, 299.9999084472656, 801 ]
1.533333
46
0
46
0
[ 66.00000762939453, -200.0000457763672, 299.9999084472656, 800 ]
[ 66.00000762939453, -200.0000457763672, 299.9999084472656, 801 ]
1.566667
47
0
47
0
[ 66.00000762939453, -200.0000457763672, 299.9999084472656, 800 ]
[ 66.00000762939453, -200.0000457763672, 299.9999084472656, 801 ]
1.6
48
0
48
0
[ 68.00000762939453, -200.0000457763672, 299.9999084472656, 800 ]
[ 66.00000762939453, -200.0000457763672, 299.9999084472656, 801 ]
1.633333
49
0
49
0
[ 70.00000762939453, -200.00006103515625, 299.9998779296875, 800 ]
[ 68.00000762939453, -200.00006103515625, 299.9998779296875, 801 ]
1.666667
50
0
50
0
[ 72.00000762939453, -200.0000762939453, 299.9998474121094, 800 ]
[ 70.00000762939453, -200.0000762939453, 299.9998474121094, 801 ]
1.7
51
0
51
0
[ 74.00000762939453, -200.00009155273438, 299.99981689453125, 800 ]
[ 72.00000762939453, -200.00009155273438, 299.99981689453125, 801 ]
1.733333
52
0
52
0
[ 76.00000762939453, -200.00010681152344, 299.9997863769531, 800 ]
[ 74.00000762939453, -200.00010681152344, 299.9997863769531, 801 ]
1.766667
53
0
53
0
[ 78.00000762939453, -200.0001220703125, 299.999755859375, 800 ]
[ 76.00000762939453, -200.0001220703125, 299.999755859375, 801 ]
1.8
54
0
54
0
[ 80.00000762939453, -200.00013732910156, 299.9997253417969, 800 ]
[ 78.00000762939453, -200.00013732910156, 299.9997253417969, 801 ]
1.833333
55
0
55
0
[ 82.00000762939453, -200.00015258789062, 299.99969482421875, 800 ]
[ 80.00000762939453, -200.00015258789062, 299.99969482421875, 801 ]
1.866667
56
0
56
0
[ 84.00000762939453, -200.0001678466797, 299.9996643066406, 800 ]
[ 82.00000762939453, -200.0001678466797, 299.9996643066406, 801 ]
1.9
57
0
57
0
[ 86.00000762939453, -200.00018310546875, 299.9996337890625, 800 ]
[ 84.00000762939453, -200.00018310546875, 299.9996337890625, 801 ]
1.933333
58
0
58
0
[ 88.00001525878906, -200.0001983642578, 299.9996032714844, 800 ]
[ 86.00001525878906, -200.0001983642578, 299.9996032714844, 801 ]
1.966667
59
0
59
0
[ 90.0000228881836, -200.00021362304688, 299.99957275390625, 800 ]
[ 88.0000228881836, -200.00021362304688, 299.99957275390625, 801 ]
2
60
0
60
0
[ 92.00003051757812, -200.00022888183594, 299.9995422363281, 800 ]
[ 90.00003051757812, -200.00022888183594, 299.9995422363281, 801 ]
2.033333
61
0
61
0
[ 94.00003814697266, -200.000244140625, 299.99951171875, 800 ]
[ 92.00003814697266, -200.000244140625, 299.99951171875, 801 ]
2.066667
62
0
62
0
[ 96.00004577636719, -200.00025939941406, 299.9994812011719, 800 ]
[ 94.00004577636719, -200.00025939941406, 299.9994812011719, 801 ]
2.1
63
0
63
0
[ 98.00005340576172, -200.00027465820312, 299.99945068359375, 800 ]
[ 96.00005340576172, -200.00027465820312, 299.99945068359375, 801 ]
2.133333
64
0
64
0
[ 100.00006103515625, -200.0002899169922, 299.9994201660156, 800 ]
[ 98.00006103515625, -200.0002899169922, 299.9994201660156, 801 ]
2.166667
65
0
65
0
[ 102.00006866455078, -200.00030517578125, 299.9993896484375, 800 ]
[ 100.00006866455078, -200.00030517578125, 299.9993896484375, 801 ]
2.2
66
0
66
0
[ 104.00007629394531, -200.0003204345703, 299.9993591308594, 800 ]
[ 102.00007629394531, -200.0003204345703, 299.9993591308594, 801 ]
2.233333
67
0
67
0
[ 106.00008392333984, -200.00033569335938, 299.99932861328125, 800 ]
[ 104.00008392333984, -200.00033569335938, 299.99932861328125, 801 ]
2.266667
68
0
68
0
[ 108.00009155273438, -200.00035095214844, 299.9992980957031, 800 ]
[ 106.00009155273438, -200.00035095214844, 299.9992980957031, 801 ]
2.3
69
0
69
0
[ 110.0000991821289, -200.0003662109375, 299.999267578125, 800 ]
[ 108.0000991821289, -200.0003662109375, 299.999267578125, 801 ]
2.333333
70
0
70
0
[ 112.00010681152344, -200.00038146972656, 299.9992370605469, 800 ]
[ 110.00010681152344, -200.00038146972656, 299.9992370605469, 801 ]
2.366667
71
0
71
0
[ 114.00011444091797, -200.00039672851562, 299.99920654296875, 800 ]
[ 112.00011444091797, -200.00039672851562, 299.99920654296875, 801 ]
2.4
72
0
72
0
[ 116.0001220703125, -200.0004119873047, 299.9991760253906, 800 ]
[ 114.0001220703125, -200.0004119873047, 299.9991760253906, 801 ]
2.433333
73
0
73
0
[ 118.00012969970703, -200.00042724609375, 299.9991455078125, 800 ]
[ 116.00012969970703, -200.00042724609375, 299.9991455078125, 801 ]
2.466667
74
0
74
0
[ 120.00013732910156, -200.0004425048828, 299.9991149902344, 800 ]
[ 118.00013732910156, -200.0004425048828, 299.9991149902344, 801 ]
2.5
75
0
75
0
[ 122.0001449584961, -200.00045776367188, 299.99908447265625, 800 ]
[ 120.0001449584961, -200.00045776367188, 299.99908447265625, 801 ]
2.533333
76
0
76
0
[ 124.00015258789062, -200.00047302246094, 299.9990539550781, 800 ]
[ 122.00015258789062, -200.00047302246094, 299.9990539550781, 801 ]
2.566667
77
0
77
0
[ 126.00016021728516, -200.00048828125, 299.9990234375, 800 ]
[ 124.00016021728516, -200.00048828125, 299.9990234375, 801 ]
2.6
78
0
78
0
[ 128.0001678466797, -200.00050354003906, 299.9989929199219, 800 ]
[ 126.00016784667969, -200.00050354003906, 299.9989929199219, 801 ]
2.633333
79
0
79
0
[ 130.0001678466797, -200.00051879882812, 299.99896240234375, 800 ]
[ 128.0001678466797, -200.00051879882812, 299.99896240234375, 801 ]
2.666667
80
0
80
0
[ 132.0001678466797, -200.0005340576172, 299.9989318847656, 800 ]
[ 130.0001678466797, -200.0005340576172, 299.9989318847656, 801 ]
2.7
81
0
81
0
[ 134.0001678466797, -200.00054931640625, 299.9989013671875, 800 ]
[ 132.0001678466797, -200.00054931640625, 299.9989013671875, 801 ]
2.733333
82
0
82
0
[ 136.0001678466797, -200.0005645751953, 299.9988708496094, 800 ]
[ 134.0001678466797, -200.0005645751953, 299.9988708496094, 801 ]
2.766667
83
0
83
0
[ 138.0001678466797, -200.00057983398438, 299.99884033203125, 800 ]
[ 136.0001678466797, -200.00057983398438, 299.99884033203125, 801 ]
2.8
84
0
84
0
[ 140.0001678466797, -200.00059509277344, 299.9988098144531, 800 ]
[ 138.0001678466797, -200.00059509277344, 299.9988098144531, 801 ]
2.833333
85
0
85
0
[ 142.0001678466797, -200.0006103515625, 299.998779296875, 800 ]
[ 140.0001678466797, -200.0006103515625, 299.998779296875, 801 ]
2.866667
86
0
86
0
[ 144.0001678466797, -200.00062561035156, 299.9987487792969, 800 ]
[ 142.0001678466797, -200.00062561035156, 299.9987487792969, 801 ]
2.9
87
0
87
0
[ 146.0001678466797, -200.00064086914062, 299.99871826171875, 800 ]
[ 144.0001678466797, -200.00064086914062, 299.99871826171875, 801 ]
2.933333
88
0
88
0
[ 148.0001678466797, -200.0006561279297, 299.9986877441406, 800 ]
[ 146.0001678466797, -200.0006561279297, 299.9986877441406, 801 ]
2.966667
89
0
89
0
[ 150.0001678466797, -200.00067138671875, 299.9986572265625, 800 ]
[ 148.0001678466797, -200.00067138671875, 299.9986572265625, 801 ]
3
90
0
90
0
[ 152.0001678466797, -200.0006866455078, 299.9986267089844, 800 ]
[ 150.0001678466797, -200.0006866455078, 299.9986267089844, 801 ]
3.033333
91
0
91
0
[ 154.00018310546875, -200.00070190429688, 299.99859619140625, 800 ]
[ 152.00018310546875, -200.00070190429688, 299.99859619140625, 801 ]
3.066667
92
0
92
0
[ 156.0001983642578, -200.00071716308594, 299.9985656738281, 800 ]
[ 154.0001983642578, -200.00071716308594, 299.9985656738281, 801 ]
3.1
93
0
93
0
[ 158.00021362304688, -200.000732421875, 299.99853515625, 800 ]
[ 156.00021362304688, -200.000732421875, 299.99853515625, 801 ]
3.133333
94
0
94
0
[ 160.00022888183594, -200.00074768066406, 299.9985046386719, 800 ]
[ 158.00022888183594, -200.00074768066406, 299.9985046386719, 801 ]
3.166667
95
0
95
0
[ 162.000244140625, -200.00076293945312, 299.99847412109375, 800 ]
[ 160.000244140625, -200.00076293945312, 299.99847412109375, 801 ]
3.2
96
0
96
0
[ 164.00025939941406, -200.0007781982422, 299.9984436035156, 800 ]
[ 162.00025939941406, -200.0007781982422, 299.9984436035156, 801 ]
3.233333
97
0
97
0
[ 166.00027465820312, -200.00079345703125, 299.9984130859375, 800 ]
[ 164.00027465820312, -200.00079345703125, 299.9984130859375, 801 ]
3.266667
98
0
98
0
[ 168.0002899169922, -200.0008087158203, 299.9983825683594, 800 ]
[ 166.0002899169922, -200.0008087158203, 299.9983825683594, 801 ]
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": "xarm",
    "total_episodes": 2,
    "total_frames": 1675,
    "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": [
                4
            ],
            "names": [
                "x",
                "y",
                "z",
                "g"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                4
            ],
            "names": [
                "x",
                "y",
                "z",
                "g"
            ]
        },
        "observation.images.gripper": {
            "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
            }
        },
        "observation.images.front": {
            "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": [
                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
1
License:
apache-2.0
Size of downloaded dataset files:
1.3 MB
Size of the auto-converted Parquet files:
1.3 MB
Number of rows:
36,546