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Datasets:
ricklon
/
touch_red_servo_v3

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
xet
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1
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observation.state
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timestamp
float32
0
29.9
frame_index
int64
0
598
episode_index
int64
0
19
index
int64
0
12k
task_index
int64
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2.8
56
0
56
0
[ -18.41758155822754, -61.4945068359375, 41.89011001586914, 78.19779968261719, -7.692307472229004, 0.9549795389175415 ]
[ -18.41758155822754, -65.0988998413086, 45.098899841308594, 79.42857360839844, -7.4285712242126465, 0.9222661256790161 ]
2.85
57
0
57
0
[ -18.505495071411133, -59.82417678833008, 41.626373291015625, 77.5824203491211, -7.692307472229004, 0.9549795389175415 ]
[ -18.41758155822754, -63.60439682006836, 44.74725341796875, 79.07691955566406, -7.4285712242126465, 0.9222661256790161 ]
2.9
58
0
58
0
[ -19.824174880981445, -57.978023529052734, 41.36263656616211, 76.35164642333984, -7.692307472229004, 0.9549795389175415 ]
[ -18.41758155822754, -62.28571319580078, 44.483516693115234, 78.81318664550781, -7.4285712242126465, 0.9222661256790161 ]
2.95
59
0
59
0
[ -20.615385055541992, -55.78022003173828, 40.74725341796875, 75.56044006347656, -7.692307472229004, 0.9549795389175415 ]
[ -18.41758155822754, -60.61538314819336, 44.131866455078125, 78.28571319580078, -7.4285712242126465, 0.9222661256790161 ]
3
60
0
60
0
[ -22.19780158996582, -53.406593322753906, 40.21977996826172, 74.32967376708984, -7.692307472229004, 0.9549795389175415 ]
[ -19.208791732788086, -58.769229888916016, 43.9560432434082, 77.23076629638672, -7.604395389556885, 0.9222661256790161 ]
3.05
61
0
61
0
[ -23.25274658203125, -50.94505310058594, 39.42856979370117, 73.71428680419922, -7.692307472229004, 0.9549795389175415 ]
[ -20.615385055541992, -56.74725341796875, 43.42856979370117, 76.52747344970703, -7.340659141540527, 0.9222661256790161 ]
3.1
62
0
62
0
[ -24.21977996826172, -48.74725341796875, 38.72527313232422, 73.27472686767578, -7.692307472229004, 0.9549795389175415 ]
[ -21.670330047607422, -54.5494499206543, 42.81318664550781, 75.47252655029297, -7.340659141540527, 0.9222661256790161 ]
3.15
63
0
63
0
[ -24.83516502380371, -46.63736343383789, 38.021976470947266, 72.74725341796875, -7.692307472229004, 0.9549795389175415 ]
[ -22.72527503967285, -52.087913513183594, 42.021976470947266, 74.76923370361328, -7.340659141540527, 0.9222661256790161 ]
3.2
64
0
64
0
[ -25.186813354492188, -44.61538314819336, 37.230770111083984, 72.21977996826172, -7.692307472229004, 0.9549795389175415 ]
[ -23.69230842590332, -49.80219650268555, 41.406593322753906, 74.24176025390625, -7.340659141540527, 0.9222661256790161 ]
3.25
65
0
65
0
[ -25.450550079345703, -42.593406677246094, 36.17582321166992, 71.69230651855469, -7.692307472229004, 0.9549795389175415 ]
[ -24.395605087280273, -47.60439682006836, 40.70329666137695, 73.53845977783203, -7.340659141540527, 0.9222661256790161 ]
3.3
66
0
66
0
[ -25.80219841003418, -40.659339904785156, 34.85714340209961, 71.69230651855469, -7.692307472229004, 0.9549795389175415 ]
[ -24.83516502380371, -45.58241653442383, 39.912086486816406, 73.010986328125, -7.340659141540527, 0.9222661256790161 ]
3.35
67
0
67
0
[ -26.065933227539062, -38.63736343383789, 32.92307662963867, 72.30769348144531, -7.692307472229004, 0.9549795389175415 ]
[ -25.27472496032715, -43.38461685180664, 39.03296661376953, 72.65933990478516, -7.340659141540527, 0.9222661256790161 ]
3.4
68
0
68
0
[ -26.241758346557617, -36.61538314819336, 30.989011764526367, 72.3956069946289, -7.692307472229004, 0.9549795389175415 ]
[ -25.626373291015625, -41.27472686767578, 37.89011001586914, 72.57142639160156, -7.340659141540527, 0.9222661256790161 ]
3.45
69
0
69
0
[ -26.329669952392578, -34.593406677246094, 29.494504928588867, 72.3956069946289, -7.692307472229004, 0.9549795389175415 ]
[ -25.89011001586914, -39.25274658203125, 36.21977996826172, 72.65933990478516, -7.340659141540527, 0.9222661256790161 ]
3.5
70
0
70
0
[ -26.41758155822754, -32.659339904785156, 28.439559936523438, 72.13186645507812, -7.692307472229004, 0.9549795389175415 ]
[ -26.153846740722656, -37.31867980957031, 34.46154022216797, 72.65933990478516, -7.340659141540527, 0.9222661256790161 ]
3.55
71
0
71
0
[ -26.85714340209961, -30.813186645507812, 27.824174880981445, 71.51648712158203, -7.692307472229004, 0.9549795389175415 ]
[ -26.153846740722656, -35.20878982543945, 32.879119873046875, 72.65933990478516, -7.340659141540527, 0.9222661256790161 ]
3.6
72
0
72
0
[ -27.648351669311523, -29.230770111083984, 27.47252655029297, 71.07691955566406, -7.692307472229004, 0.9549795389175415 ]
[ -26.241758346557617, -33.18681335449219, 31.736263275146484, 72.57142639160156, -7.340659141540527, 0.9222661256790161 ]
3.65
73
0
73
0
[ -28.52747344970703, -27.648351669311523, 27.384614944458008, 70.81318664550781, -7.692307472229004, 0.9549795389175415 ]
[ -26.593406677246094, -31.428571701049805, 31.03296661376953, 72.13186645507812, -7.340659141540527, 0.9222661256790161 ]
3.7
74
0
74
0
[ -29.406593322753906, -25.9780216217041, 27.208791732788086, 69.75823974609375, -7.692307472229004, 0.9549795389175415 ]
[ -27.47252655029297, -29.670330047607422, 30.593406677246094, 71.69230651855469, -7.340659141540527, 0.9222661256790161 ]
3.75
75
0
75
0
[ -30.0219783782959, -24.21977996826172, 26.681318283081055, 69.4065933227539, -7.692307472229004, 0.9549795389175415 ]
[ -28.351648330688477, -28.08791160583496, 30.41758155822754, 71.25274658203125, -7.340659141540527, 0.9222661256790161 ]
3.8
76
0
76
0
[ -30.63736343383789, -22.373626708984375, 25.714284896850586, 68.61538696289062, -7.692307472229004, 0.9549795389175415 ]
[ -29.14285659790039, -26.241758346557617, 30.065933227539062, 70.54945373535156, -7.340659141540527, 0.9222661256790161 ]
3.85
77
0
77
0
[ -30.989011764526367, -20.439559936523438, 24.571428298950195, 67.9120864868164, -7.692307472229004, 0.9549795389175415 ]
[ -29.758241653442383, -24.571428298950195, 29.450550079345703, 70.10989379882812, -7.340659141540527, 0.9222661256790161 ]
3.9
78
0
78
0
[ -31.340660095214844, -18.593406677246094, 23.25274658203125, 67.73626708984375, -7.692307472229004, 0.9549795389175415 ]
[ -30.373626708984375, -22.63736343383789, 28.571428298950195, 69.31867980957031, -7.340659141540527, 0.9222661256790161 ]
3.95
79
0
79
0
[ -31.604394912719727, -16.83516502380371, 21.758241653442383, 67.73626708984375, -7.692307472229004, 0.9549795389175415 ]
[ -30.813186645507812, -20.791208267211914, 27.516483306884766, 68.70330047607422, -7.252747058868408, 0.9222661256790161 ]
4
80
0
80
0
[ -31.78022003173828, -15.076923370361328, 20, 67.64835357666016, -7.692307472229004, 0.9549795389175415 ]
[ -31.16483497619629, -18.85714340209961, 26.285715103149414, 68.52747344970703, -7.340659141540527, 0.9222661256790161 ]
4.05
81
0
81
0
[ -32.0439567565918, -13.406593322753906, 18.329669952392578, 67.56044006347656, -7.692307472229004, 0.9549795389175415 ]
[ -31.516483306884766, -17.010988235473633, 24.96703338623047, 68.35164642333984, -7.340659141540527, 0.9222661256790161 ]
4.1
82
0
82
0
[ -32.30769348144531, -11.648351669311523, 17.010988235473633, 67.56044006347656, -7.692307472229004, 0.9549795389175415 ]
[ -31.69230842590332, -15.252747535705566, 23.384614944458008, 68.35164642333984, -7.340659141540527, 0.9222661256790161 ]
4.15
83
0
83
0
[ -32.57143020629883, -9.89011001586914, 15.780220031738281, 67.47252655029297, -7.692307472229004, 0.9549795389175415 ]
[ -31.868131637573242, -13.582417488098145, 21.80219841003418, 68.17582702636719, -7.340659141540527, 0.9222661256790161 ]
4.2
84
0
84
0
[ -32.74725341796875, -8.131868362426758, 14.637362480163574, 66.94505310058594, -7.692307472229004, 0.9549795389175415 ]
[ -32.21977996826172, -11.824175834655762, 20.30769157409668, 68.17582702636719, -7.340659141540527, 0.9222661256790161 ]
4.25
85
0
85
0
[ -32.92307662963867, -6.461538314819336, 13.406593322753906, 66.68132019042969, -7.692307472229004, 0.9549795389175415 ]
[ -32.483516693115234, -10.065934181213379, 19.076923370361328, 68.0879135131836, -7.340659141540527, 0.9222661256790161 ]
4.3
86
0
86
0
[ -33.010990142822266, -4.791208744049072, 12.439560890197754, 66.5054931640625, -7.692307472229004, 0.9549795389175415 ]
[ -32.57143020629883, -8.307692527770996, 17.758241653442383, 67.56044006347656, -7.340659141540527, 0.9222661256790161 ]
4.35
87
0
87
0
[ -33.010990142822266, -3.384615421295166, 11.736263275146484, 66.24176025390625, -7.692307472229004, 0.9549795389175415 ]
[ -32.83516311645508, -6.549450397491455, 16.615385055541992, 67.38461303710938, -7.340659141540527, 0.9222661256790161 ]
4.4
88
0
88
0
[ -33.010990142822266, -2.065934181213379, 11.032966613769531, 66.06593322753906, -7.692307472229004, 0.9549795389175415 ]
[ -32.92307662963867, -4.879120826721191, 15.560439109802246, 67.12088012695312, -7.340659141540527, 0.9222661256790161 ]
4.45
89
0
89
0
[ -32.74725341796875, -0.9230769276618958, 10.241758346557617, 65.71428680419922, -7.692307472229004, 0.9549795389175415 ]
[ -32.83516311645508, -3.296703338623047, 14.681318283081055, 66.85713958740234, -7.340659141540527, 0.9222661256790161 ]
4.5
90
0
90
0
[ -32.30769348144531, 0.1318681389093399, 9.89011001586914, 65.45054626464844, -7.692307472229004, 0.9549795389175415 ]
[ -32.83516311645508, -1.890109896659851, 14.065934181213379, 66.68132019042969, -7.340659141540527, 0.9222661256790161 ]
4.55
91
0
91
0
[ -31.604394912719727, 1.0109890699386597, 9.626373291015625, 65.45054626464844, -7.692307472229004, 0.9549795389175415 ]
[ -32.83516311645508, -0.5714285969734192, 13.274724960327148, 66.4175796508789, -7.340659141540527, 0.9222661256790161 ]
4.6
92
0
92
0
[ -30.813186645507812, 1.9780219793319702, 9.274724960327148, 65.36264038085938, -7.692307472229004, 0.9549795389175415 ]
[ -32.74725341796875, 0.48351648449897766, 12.835165023803711, 66.24176025390625, -7.340659141540527, 0.9222661256790161 ]
4.65
93
0
93
0
[ -30.0219783782959, 3.0329670906066895, 8.571428298950195, 65.27472686767578, -7.692307472229004, 0.9549795389175415 ]
[ -32.21977996826172, 1.4505494832992554, 12.571428298950195, 66.24176025390625, -7.340659141540527, 0.9222661256790161 ]
4.7
94
0
94
0
[ -29.494504928588867, 4.087912082672119, 7.604395389556885, 65.27472686767578, -7.692307472229004, 0.9549795389175415 ]
[ -31.516483306884766, 2.3296704292297363, 12.131868362426758, 66.15384674072266, -7.340659141540527, 0.9222661256790161 ]
4.75
95
0
95
0
[ -29.14285659790039, 5.142857074737549, 6.461538314819336, 65.71428680419922, -7.692307472229004, 0.9549795389175415 ]
[ -30.813186645507812, 3.472527503967285, 11.428571701049805, 66.06593322753906, -7.340659141540527, 0.9222661256790161 ]
4.8
96
0
96
0
[ -28.879121780395508, 6.461538314819336, 5.142857074737549, 65.89010620117188, -7.692307472229004, 0.9549795389175415 ]
[ -30.19780158996582, 4.527472496032715, 10.549450874328613, 66.06593322753906, -7.340659141540527, 0.9222661256790161 ]
4.85
97
0
97
0
[ -28.791208267211914, 7.780219554901123, 4, 66.06593322753906, -7.692307472229004, 0.9549795389175415 ]
[ -29.846153259277344, 5.5824174880981445, 9.582417488098145, 66.06593322753906, -7.340659141540527, 0.9222661256790161 ]
4.9
98
0
98
0
[ -28.791208267211914, 8.923076629638672, 2.9450550079345703, 66.4175796508789, -7.692307472229004, 0.9549795389175415 ]
[ -29.58241844177246, 6.901098728179932, 8.263736724853516, 66.06593322753906, -7.340659141540527, 0.9222661256790161 ]
4.95
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "so_follower",
    "total_episodes": 20,
    "total_frames": 11980,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:20"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
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        },
        "observation.state": {
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            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
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        },
        "observation.images.top": {
            "dtype": "video",
            "shape": [
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            "names": [
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            "info": {
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                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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        "observation.images.gripper": {
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                "video.codec": "h264",
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        },
        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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