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Datasets:
shuohsuan
/
grasp_data_tg_50

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
camera
top
gripper
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
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Auto-converted to Parquet
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action
sequence
observation.state
sequence
timestamp
float32
0
20.9
frame_index
int64
0
627
episode_index
int64
0
49
index
int64
0
21.8k
task_index
int64
0
0
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[ -5.009765625, 182.109375, 167.255859375, 52.470703125, -83.759765625, 0.18450184166431427 ]
[ -4.5703125, 186.416015625, 173.84765625, 51.767578125, -84.462890625, 0.7468259930610657 ]
2.366667
71
0
71
0
[ -5.009765625, 180.17578125, 165.673828125, 52.822265625, -83.759765625, 0.18450184166431427 ]
[ -4.658203125, 184.921875, 172.353515625, 52.03125, -84.462890625, 0.7468259930610657 ]
2.4
72
0
72
0
[ -5.185546875, 178.06640625, 163.916015625, 53.349609375, -83.759765625, 0.18450184166431427 ]
[ -4.658203125, 183.251953125, 170.859375, 52.294921875, -84.462890625, 0.7468259930610657 ]
2.433333
73
0
73
0
[ -5.361328125, 175.60546875, 161.982421875, 53.7890625, -83.408203125, 0.18450184166431427 ]
[ -4.658203125, 181.23046875, 169.27734375, 52.734375, -84.462890625, 0.7468259930610657 ]
2.466667
74
0
74
0
[ -5.80078125, 172.96875, 159.78515625, 54.404296875, -82.705078125, 0.18450184166431427 ]
[ -4.658203125, 179.208984375, 167.431640625, 53.173828125, -84.462890625, 0.7468259930610657 ]
2.5
75
0
75
0
[ -6.416015625, 170.33203125, 157.5, 54.931640625, -81.650390625, 0.18450184166431427 ]
[ -4.658203125, 177.099609375, 165.673828125, 53.61328125, -84.375, 0.7468259930610657 ]
2.533333
76
0
76
0
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[ -5.009765625, 174.462890625, 163.65234375, 54.140625, -83.408203125, 0.7468259930610657 ]
2.566667
77
0
77
0
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[ -5.625, 171.9140625, 161.455078125, 54.66796875, -82.265625, 0.7468259930610657 ]
2.6
78
0
78
0
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[ -6.328125, 169.365234375, 159.2578125, 55.1953125, -81.826171875, 0.7468259930610657 ]
2.633333
79
0
79
0
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[ -7.20703125, 166.46484375, 156.97265625, 55.810546875, -81.474609375, 0.7468259930610657 ]
2.666667
80
0
80
0
[ -11.07421875, 156.357421875, 146.513671875, 58.359375, -78.57421875, 0.18450184166431427 ]
[ -8.0859375, 163.65234375, 154.775390625, 56.513671875, -80.595703125, 0.7468259930610657 ]
2.7
81
0
81
0
[ -12.392578125, 153.896484375, 144.66796875, 58.974609375, -77.51953125, 0.18450184166431427 ]
[ -9.052734375, 161.015625, 152.578125, 57.216796875, -79.8046875, 0.7468259930610657 ]
2.733333
82
0
82
0
[ -13.623046875, 151.171875, 142.734375, 59.58984375, -76.46484375, 0.7380073666572571 ]
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2.766667
83
0
83
0
[ -14.765625, 148.447265625, 140.80078125, 59.94140625, -75.146484375, 1.199262022972107 ]
[ -11.42578125, 155.654296875, 148.798828125, 58.53515625, -78.3984375, 0.7468259930610657 ]
2.8
84
0
84
0
[ -15.64453125, 146.07421875, 139.306640625, 59.94140625, -74.00390625, 2.029520273208618 ]
[ -12.65625, 153.10546875, 146.689453125, 59.0625, -77.6953125, 0.7468259930610657 ]
2.833333
85
0
85
0
[ -16.435546875, 143.61328125, 137.98828125, 59.94140625, -73.30078125, 3.044280529022217 ]
[ -13.88671875, 150.380859375, 144.84375, 59.4140625, -75.76171875, 0.8961912393569946 ]
2.866667
86
0
86
0
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[ -14.853515625, 147.744140625, 143.173828125, 59.501953125, -74.8828125, 1.4936519861221313 ]
2.9
87
0
87
0
[ -17.490234375, 138.955078125, 135.791015625, 59.677734375, -72.0703125, 6.549815654754639 ]
[ -15.64453125, 145.37109375, 141.591796875, 59.58984375, -74.267578125, 2.240478038787842 ]
2.933333
88
0
88
0
[ -17.9296875, 136.93359375, 134.912109375, 59.4140625, -71.54296875, 8.579336166381836 ]
[ -16.34765625, 142.998046875, 140.361328125, 59.58984375, -73.564453125, 3.5847649574279785 ]
2.966667
89
0
89
0
[ -18.544921875, 135.087890625, 134.208984375, 59.23828125, -71.279296875, 10.239851951599121 ]
[ -16.962890625, 140.361328125, 139.21875, 59.58984375, -72.861328125, 5.377147197723389 ]
3
90
0
90
0
[ -19.16015625, 133.59375, 133.681640625, 58.798828125, -70.576171875, 11.992619514465332 ]
[ -17.40234375, 137.98828125, 138.1640625, 59.58984375, -72.333984375, 7.3935770988464355 ]
3.033333
91
0
91
0
[ -19.599609375, 132.099609375, 133.2421875, 58.359375, -70.13671875, 13.65313720703125 ]
[ -17.578125, 136.318359375, 137.4609375, 59.501953125, -71.806640625, 8.73786449432373 ]
3.066667
92
0
92
0
[ -20.0390625, 130.60546875, 132.802734375, 58.0078125, -70.048828125, 15.590405464172363 ]
[ -18.193359375, 134.384765625, 136.845703125, 59.23828125, -71.103515625, 10.306199073791504 ]
3.1
93
0
93
0
[ -20.302734375, 129.19921875, 132.099609375, 57.83203125, -70.048828125, 17.61992645263672 ]
[ -18.720703125, 132.890625, 136.142578125, 58.88671875, -70.83984375, 12.098581314086914 ]
3.133333
94
0
94
0
[ -20.56640625, 127.79296875, 131.484375, 57.48046875, -69.873046875, 19.46494483947754 ]
[ -19.3359375, 131.30859375, 135.52734375, 58.7109375, -70.6640625, 14.115011215209961 ]
3.166667
95
0
95
0
[ -20.830078125, 126.5625, 130.869140625, 57.041015625, -69.78515625, 20.756458282470703 ]
[ -19.951171875, 129.55078125, 134.912109375, 58.447265625, -70.400390625, 15.758028984069824 ]
3.2
96
0
96
0
[ -21.09375, 125.419921875, 130.078125, 56.77734375, -69.521484375, 22.047971725463867 ]
[ -20.478515625, 128.232421875, 134.208984375, 58.095703125, -70.3125, 17.47572898864746 ]
3.233333
97
0
97
0
[ -21.357421875, 124.1015625, 129.111328125, 56.6015625, -69.43359375, 22.97047996520996 ]
[ -20.654296875, 127.001953125, 133.59375, 57.744140625, -70.3125, 19.118745803833008 ]
3.266667
98
0
98
0
[ -21.533203125, 122.87109375, 128.3203125, 56.337890625, -69.43359375, 23.892988204956055 ]
[ -20.7421875, 125.5078125, 132.890625, 57.568359375, -70.224609375, 20.388349533081055 ]
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": 50,
    "total_frames": 21778,
    "total_tasks": 1,
    "total_videos": 100,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "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": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.laptop": {
            "dtype": "video",
            "shape": [
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            "names": [
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        "observation.images.phone": {
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            "info": {
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        },
        "timestamp": {
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            "shape": [
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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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Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
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Number of rows:
21,778