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Datasets:
northhycao
/
grasp_cubes_noleader

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
grasp cubes
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
Community
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observation.state
list
timestamp
float32
0
28.8
frame_index
int64
0
863
episode_index
int64
0
9
index
int64
0
8.52k
task_index
int64
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[ 46.23046875, 135.791015625, 147.216796875, 50.185546875, -21.97265625, 9.711075782775879 ]
[ 47.021484375, 138.69140625, 152.666015625, 49.921875, -22.236328125, 9.300699234008789 ]
2.4
72
0
72
0
[ 46.142578125, 134.208984375, 146.07421875, 50.185546875, -21.97265625, 9.711075782775879 ]
[ 47.021484375, 137.4609375, 151.34765625, 49.921875, -22.236328125, 9.300699234008789 ]
2.433333
73
0
73
0
[ 46.142578125, 132.275390625, 145.01953125, 50.185546875, -21.97265625, 9.711075782775879 ]
[ 46.7578125, 136.142578125, 150.205078125, 49.921875, -22.1484375, 9.300699234008789 ]
2.466667
74
0
74
0
[ 46.318359375, 130.166015625, 143.876953125, 50.185546875, -22.060546875, 9.711075782775879 ]
[ 46.40625, 134.560546875, 148.974609375, 49.921875, -22.236328125, 9.300699234008789 ]
2.5
75
0
75
0
[ 46.669921875, 127.880859375, 142.734375, 50.185546875, -22.060546875, 9.711075782775879 ]
[ 45.966796875, 132.626953125, 147.744140625, 49.921875, -22.236328125, 9.300699234008789 ]
2.533333
76
0
76
0
[ 46.7578125, 125.419921875, 141.591796875, 50.2734375, -22.060546875, 9.711075782775879 ]
[ 45.87890625, 130.517578125, 146.513671875, 49.921875, -22.236328125, 9.300699234008789 ]
2.566667
77
0
77
0
[ 46.7578125, 123.046875, 140.625, 50.2734375, -22.060546875, 9.711075782775879 ]
[ 46.23046875, 128.49609375, 145.458984375, 49.921875, -22.236328125, 9.300699234008789 ]
2.6
78
0
78
0
[ 46.7578125, 120.849609375, 139.921875, 50.2734375, -22.060546875, 9.711075782775879 ]
[ 46.7578125, 126.2109375, 144.31640625, 49.921875, -22.236328125, 9.300699234008789 ]
2.633333
79
0
79
0
[ 46.7578125, 119.091796875, 139.5703125, 50.2734375, -22.060546875, 9.711075782775879 ]
[ 47.28515625, 123.75, 143.26171875, 50.009765625, -22.236328125, 9.300699234008789 ]
2.666667
80
0
80
0
[ 46.7578125, 117.59765625, 139.482421875, 50.2734375, -22.060546875, 9.711075782775879 ]
[ 47.197265625, 121.904296875, 142.646484375, 50.009765625, -22.060546875, 9.300699234008789 ]
2.7
81
0
81
0
[ 46.7578125, 116.455078125, 139.482421875, 50.2734375, -22.060546875, 9.711075782775879 ]
[ 47.109375, 119.8828125, 142.20703125, 50.09765625, -21.884765625, 9.300699234008789 ]
2.733333
82
0
82
0
[ 46.7578125, 115.83984375, 139.482421875, 50.2734375, -22.060546875, 9.711075782775879 ]
[ 46.7578125, 118.30078125, 141.943359375, 50.09765625, -21.884765625, 9.300699234008789 ]
2.766667
83
0
83
0
[ 46.7578125, 115.6640625, 139.482421875, 50.2734375, -22.060546875, 9.791332244873047 ]
[ 46.40625, 117.0703125, 141.85546875, 50.09765625, -21.97265625, 9.300699234008789 ]
2.8
84
0
84
0
[ 46.7578125, 115.6640625, 139.482421875, 50.2734375, -22.060546875, 9.791332244873047 ]
[ 46.23046875, 116.279296875, 141.767578125, 50.09765625, -22.060546875, 9.300699234008789 ]
2.833333
85
0
85
0
[ 46.494140625, 115.83984375, 139.482421875, 50.2734375, -22.060546875, 9.791332244873047 ]
[ 46.23046875, 115.927734375, 141.767578125, 50.09765625, -22.060546875, 9.300699234008789 ]
2.866667
86
0
86
0
[ 46.23046875, 116.19140625, 139.482421875, 50.2734375, -22.060546875, 9.871589660644531 ]
[ 46.40625, 115.927734375, 141.767578125, 50.09765625, -22.1484375, 9.300699234008789 ]
2.9
87
0
87
0
[ 46.142578125, 116.103515625, 139.482421875, 50.2734375, -22.060546875, 10.19261646270752 ]
[ 46.845703125, 115.927734375, 141.767578125, 50.09765625, -22.1484375, 9.300699234008789 ]
2.933333
88
0
88
0
[ 46.0546875, 115.6640625, 139.482421875, 50.2734375, -22.060546875, 10.754413604736328 ]
[ 46.93359375, 115.927734375, 141.767578125, 50.09765625, -22.060546875, 9.580419540405273 ]
2.966667
89
0
89
0
[ 45.966796875, 115.6640625, 139.482421875, 50.2734375, -22.060546875, 11.79775333404541 ]
[ 46.669921875, 115.6640625, 141.767578125, 50.09765625, -21.796875, 10.069930076599121 ]
3
90
0
90
0
[ 45.966796875, 115.6640625, 139.482421875, 50.2734375, -22.060546875, 13.001605987548828 ]
[ 46.318359375, 115.48828125, 141.767578125, 50.09765625, -21.796875, 10.769230842590332 ]
3.033333
91
0
91
0
[ 45.966796875, 115.6640625, 139.39453125, 50.2734375, -22.060546875, 14.365970611572266 ]
[ 45.791015625, 115.48828125, 141.767578125, 50.09765625, -21.884765625, 11.748251914978027 ]
3.066667
92
0
92
0
[ 45.966796875, 115.83984375, 139.39453125, 50.2734375, -22.060546875, 15.810593605041504 ]
[ 45.615234375, 115.48828125, 141.6796875, 50.09765625, -21.884765625, 12.517481803894043 ]
3.1
93
0
93
0
[ 45.87890625, 115.927734375, 139.39453125, 50.2734375, -22.060546875, 17.094703674316406 ]
[ 45.52734375, 115.48828125, 141.591796875, 50.09765625, -21.97265625, 13.916084289550781 ]
3.133333
94
0
94
0
[ 45.87890625, 116.015625, 139.39453125, 50.2734375, -22.060546875, 18.298555374145508 ]
[ 45.52734375, 115.48828125, 141.591796875, 50.09765625, -21.97265625, 15.034964561462402 ]
3.166667
95
0
95
0
[ 45.87890625, 116.015625, 139.39453125, 50.2734375, -22.060546875, 19.101123809814453 ]
[ 45.703125, 115.48828125, 141.591796875, 50.09765625, -21.97265625, 16.43356704711914 ]
3.2
96
0
96
0
[ 45.87890625, 116.19140625, 139.39453125, 50.2734375, -22.060546875, 19.582664489746094 ]
[ 45.966796875, 115.48828125, 141.591796875, 50.09765625, -21.97265625, 17.412588119506836 ]
3.233333
97
0
97
0
[ 45.87890625, 116.19140625, 139.39453125, 50.2734375, -22.060546875, 19.662921905517578 ]
[ 46.23046875, 115.48828125, 141.591796875, 50.09765625, -21.97265625, 18.321678161621094 ]
3.266667
98
0
98
0
[ 45.87890625, 116.19140625, 139.39453125, 50.2734375, -22.060546875, 19.662921905517578 ]
[ 46.318359375, 115.48828125, 141.591796875, 50.09765625, -21.97265625, 18.671329498291016 ]
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": 8518,
    "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": {
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            "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": {
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            "shape": [
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.realsense_top": {
            "dtype": "video",
            "shape": [
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            "names": [
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        "observation.images.realsense_side": {
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            "names": [
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            "info": {
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        "timestamp": {
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            "names": null
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        "frame_index": {
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        },
        "episode_index": {
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        "index": {
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        }
    }
}

Citation

BibTeX:

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License:
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