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Datasets:
dsfsg
/
grasp_pens

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
Libraries:
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Dask
License:
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xet
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sequence
observation.state
sequence
timestamp
float32
0
69.4
frame_index
int64
0
2.08k
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int64
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19
index
int64
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37.1k
task_index
int64
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72
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[ 0.791015625, 189.931640625, 174.462890625, 51.591796875, -8.4375, 0.1054852306842804 ]
[ 0.087890625, 188.701171875, 174.375, 50.9765625, -7.55859375, 0.8795074820518494 ]
2.433333
73
0
73
0
[ 0.791015625, 189.931640625, 174.462890625, 51.591796875, -8.4375, 0.1054852306842804 ]
[ 0.087890625, 188.701171875, 174.375, 50.9765625, -7.55859375, 0.8795074820518494 ]
2.466667
74
0
74
0
[ 0.791015625, 189.931640625, 174.462890625, 51.591796875, -8.4375, 0.1054852306842804 ]
[ 0.087890625, 188.701171875, 174.375, 50.9765625, -7.55859375, 0.8795074820518494 ]
2.5
75
0
75
0
[ 0.791015625, 189.931640625, 174.462890625, 51.591796875, -8.4375, 0.1054852306842804 ]
[ 0.087890625, 188.701171875, 174.375, 50.9765625, -7.55859375, 0.8795074820518494 ]
2.533333
76
0
76
0
[ 0.791015625, 189.931640625, 174.462890625, 51.591796875, -8.4375, 0.1054852306842804 ]
[ 0.087890625, 188.701171875, 174.375, 50.9765625, -7.55859375, 0.8795074820518494 ]
2.566667
77
0
77
0
[ 0.703125, 189.931640625, 174.462890625, 51.591796875, -8.4375, 0.1054852306842804 ]
[ 0.087890625, 188.701171875, 174.375, 50.9765625, -7.55859375, 0.8795074820518494 ]
2.6
78
0
78
0
[ 0.703125, 189.931640625, 174.462890625, 51.591796875, -8.4375, 0.1054852306842804 ]
[ 0.087890625, 188.701171875, 174.375, 50.9765625, -7.55859375, 0.8795074820518494 ]
2.633333
79
0
79
0
[ 0.703125, 189.931640625, 174.462890625, 51.591796875, -8.4375, 0 ]
[ 0.087890625, 188.701171875, 174.375, 50.9765625, -7.55859375, 0.8795074820518494 ]
2.666667
80
0
80
0
[ 0.703125, 189.931640625, 174.462890625, 51.591796875, -8.349609375, 0 ]
[ 0.087890625, 188.701171875, 174.375, 50.9765625, -7.55859375, 0.8795074820518494 ]
2.7
81
0
81
0
[ 0.703125, 189.931640625, 174.462890625, 51.591796875, -8.525390625, 0 ]
[ 0.087890625, 188.701171875, 174.375, 50.9765625, -7.55859375, 0.8795074820518494 ]
2.733333
82
0
82
0
[ 0.703125, 189.931640625, 174.375, 51.591796875, -9.31640625, 0 ]
[ 0.087890625, 188.701171875, 174.375, 50.9765625, -7.55859375, 0.8795074820518494 ]
2.766667
83
0
83
0
[ 0.703125, 189.931640625, 173.3203125, 52.119140625, -10.1953125, 0 ]
[ 0.087890625, 188.701171875, 174.375, 50.9765625, -7.734375, 0.8795074820518494 ]
2.8
84
0
84
0
[ 0.703125, 189.931640625, 172.001953125, 52.91015625, -10.634765625, 0 ]
[ 0.087890625, 188.701171875, 174.375, 51.064453125, -8.26171875, 0.8795074820518494 ]
2.833333
85
0
85
0
[ 0.703125, 189.931640625, 170.771484375, 53.7890625, -10.8984375, 0 ]
[ 0.087890625, 188.701171875, 174.375, 51.416015625, -8.876953125, 0.8795074820518494 ]
2.866667
86
0
86
0
[ 0.703125, 189.931640625, 169.1015625, 54.84375, -11.337890625, 0 ]
[ 0.087890625, 188.701171875, 174.375, 51.943359375, -9.31640625, 0.8795074820518494 ]
2.9
87
0
87
0
[ 0.703125, 189.931640625, 166.9921875, 56.6015625, -11.953125, 0 ]
[ 0.087890625, 188.701171875, 173.408203125, 52.822265625, -9.66796875, 0.8795074820518494 ]
2.933333
88
0
88
0
[ 0.703125, 189.931640625, 164.794921875, 58.623046875, -12.744140625, 0 ]
[ 0.087890625, 188.701171875, 172.08984375, 53.876953125, -10.283203125, 0.8795074820518494 ]
2.966667
89
0
89
0
[ 0.703125, 189.931640625, 163.212890625, 59.94140625, -13.0078125, 0 ]
[ 0.087890625, 188.701171875, 170.771484375, 55.01953125, -10.546875, 0.8795074820518494 ]
3
90
0
90
0
[ 0.703125, 189.931640625, 160.927734375, 61.435546875, -13.18359375, 0 ]
[ 0.087890625, 188.701171875, 168.134765625, 57.041015625, -11.42578125, 0.8795074820518494 ]
3.033333
91
0
91
0
[ 0.703125, 189.404296875, 158.642578125, 62.578125, -13.53515625, 0 ]
[ 0.087890625, 188.701171875, 166.11328125, 58.623046875, -12.216796875, 0.8795074820518494 ]
3.066667
92
0
92
0
[ 0.703125, 188.876953125, 156.708984375, 63.896484375, -14.0625, 0 ]
[ 0.087890625, 188.701171875, 164.1796875, 60.205078125, -12.48046875, 0.8795074820518494 ]
3.1
93
0
93
0
[ 0.703125, 188.4375, 155.302734375, 64.951171875, -14.58984375, 0 ]
[ 0.087890625, 188.701171875, 162.59765625, 61.259765625, -12.568359375, 0.8795074820518494 ]
3.133333
94
0
94
0
[ 0.703125, 187.91015625, 154.16015625, 65.7421875, -14.853515625, 0 ]
[ 0.087890625, 188.61328125, 160.751953125, 62.138671875, -12.919921875, 0.8795074820518494 ]
3.166667
95
0
95
0
[ 0.703125, 187.20703125, 153.10546875, 66.26953125, -15.205078125, 0 ]
[ 0.087890625, 188.61328125, 159.08203125, 63.10546875, -13.359375, 0.8795074820518494 ]
3.2
96
0
96
0
[ 0.703125, 186.240234375, 151.69921875, 66.62109375, -15.556640625, 0 ]
[ 0.087890625, 188.26171875, 157.32421875, 64.3359375, -13.7109375, 0.8795074820518494 ]
3.233333
97
0
97
0
[ 0.703125, 185.185546875, 150.380859375, 66.796875, -15.64453125, 0 ]
[ 0.087890625, 187.55859375, 155.91796875, 65.302734375, -14.23828125, 0.8795074820518494 ]
3.266667
98
0
98
0
[ 0.703125, 183.8671875, 148.88671875, 66.796875, -15.732421875, 0 ]
[ 0.087890625, 186.15234375, 154.423828125, 65.91796875, -14.501953125, 0.8795074820518494 ]
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": 20,
    "total_frames": 37125,
    "total_tasks": 1,
    "total_videos": 60,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
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    "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": {
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                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
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        }
    }
}

Citation

BibTeX:

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