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Datasets:
shuohsuan
/
grasp_data_tsg_50

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
camera
top
side
gripper
grasp
Libraries:
Datasets
Dask
License:
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xet
Community
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action
sequence
observation.state
sequence
timestamp
float32
0
20.8
frame_index
int64
0
624
episode_index
int64
0
49
index
int64
0
22.9k
task_index
int64
0
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[ -1.318359375, 188.349609375, 176.66015625, 76.728515625, -91.58203125, 0.6373937726020813 ]
2.3
69
0
69
0
[ -0.703125, 190.458984375, 177.275390625, 73.65234375, -91.669921875, 0.37664783000946045 ]
[ -1.318359375, 188.349609375, 176.66015625, 76.640625, -91.7578125, 0.6373937726020813 ]
2.333333
70
0
70
0
[ -0.703125, 190.458984375, 177.275390625, 71.3671875, -90.703125, 0.28248587250709534 ]
[ -1.318359375, 188.349609375, 176.66015625, 76.201171875, -91.7578125, 0.6373937726020813 ]
2.366667
71
0
71
0
[ -0.703125, 190.458984375, 177.275390625, 68.37890625, -90.087890625, 0.28248587250709534 ]
[ -1.318359375, 188.349609375, 176.66015625, 74.8828125, -91.7578125, 0.6373937726020813 ]
2.4
72
0
72
0
[ -0.52734375, 190.458984375, 177.275390625, 66.09375, -89.47265625, 0.28248587250709534 ]
[ -1.318359375, 188.349609375, 176.66015625, 72.94921875, -91.494140625, 0.6373937726020813 ]
2.433333
73
0
73
0
[ -0.3515625, 190.458984375, 177.275390625, 64.3359375, -89.6484375, 0.28248587250709534 ]
[ -1.318359375, 188.349609375, 176.66015625, 70.6640625, -90.966796875, 0.6373937726020813 ]
2.466667
74
0
74
0
[ 0, 190.1953125, 177.275390625, 62.666015625, -90.3515625, 0.28248587250709534 ]
[ -1.318359375, 188.349609375, 176.66015625, 68.466796875, -90.615234375, 0.6373937726020813 ]
2.5
75
0
75
0
[ 0.439453125, 189.580078125, 177.275390625, 60.64453125, -90.791015625, 0.28248587250709534 ]
[ -0.966796875, 188.349609375, 176.66015625, 66.708984375, -90.52734375, 0.6373937726020813 ]
2.533333
76
0
76
0
[ 0.87890625, 188.525390625, 177.275390625, 58.095703125, -91.23046875, 0.28248587250709534 ]
[ -0.615234375, 188.349609375, 176.66015625, 64.599609375, -90.52734375, 0.6373937726020813 ]
2.566667
77
0
77
0
[ 1.23046875, 186.85546875, 177.01171875, 55.1953125, -91.318359375, 0.28248587250709534 ]
[ -0.263671875, 188.349609375, 176.66015625, 62.841796875, -90.52734375, 0.6373937726020813 ]
2.6
78
0
78
0
[ 1.7578125, 185.185546875, 176.572265625, 52.3828125, -91.0546875, 0.28248587250709534 ]
[ 0.17578125, 187.734375, 176.66015625, 60.46875, -90.52734375, 0.6373937726020813 ]
2.633333
79
0
79
0
[ 2.021484375, 183.251953125, 175.693359375, 50.361328125, -90.966796875, 0.28248587250709534 ]
[ 0.615234375, 186.767578125, 176.66015625, 57.744140625, -90.703125, 0.6373937726020813 ]
2.666667
80
0
80
0
[ 2.197265625, 181.142578125, 174.287109375, 49.130859375, -90.966796875, 0.28248587250709534 ]
[ 0.966796875, 185.625, 176.66015625, 55.37109375, -90.703125, 0.6373937726020813 ]
2.7
81
0
81
0
[ 2.197265625, 178.857421875, 172.529296875, 48.251953125, -90.791015625, 0.28248587250709534 ]
[ 1.318359375, 184.130859375, 176.484375, 53.349609375, -90.703125, 0.6373937726020813 ]
2.733333
82
0
82
0
[ 2.197265625, 176.044921875, 170.419921875, 47.548828125, -90.439453125, 0.28248587250709534 ]
[ 1.494140625, 182.63671875, 175.95703125, 51.767578125, -90.703125, 0.6373937726020813 ]
2.766667
83
0
83
0
[ 2.373046875, 172.79296875, 167.958984375, 47.021484375, -90.17578125, 0.28248587250709534 ]
[ 1.669921875, 180.52734375, 174.90234375, 50.537109375, -90.703125, 0.6373937726020813 ]
2.8
84
0
84
0
[ 2.63671875, 169.62890625, 165.498046875, 46.40625, -89.82421875, 0.28248587250709534 ]
[ 1.845703125, 177.890625, 173.759765625, 49.658203125, -90.703125, 0.6373937726020813 ]
2.833333
85
0
85
0
[ 2.98828125, 166.904296875, 162.94921875, 45.966796875, -89.47265625, 0.28248587250709534 ]
[ 2.021484375, 173.84765625, 172.265625, 48.69140625, -90.615234375, 0.6373937726020813 ]
2.866667
86
0
86
0
[ 3.515625, 164.267578125, 160.400390625, 45.87890625, -89.208984375, 0.28248587250709534 ]
[ 2.109375, 171.5625, 170.595703125, 48.1640625, -90.439453125, 0.6373937726020813 ]
2.9
87
0
87
0
[ 4.130859375, 161.806640625, 157.763671875, 45.87890625, -88.681640625, 0.28248587250709534 ]
[ 2.4609375, 168.92578125, 168.75, 47.724609375, -90.263671875, 0.6373937726020813 ]
2.933333
88
0
88
0
[ 4.833984375, 159.609375, 155.126953125, 45.966796875, -88.154296875, 0.28248587250709534 ]
[ 3.076171875, 166.201171875, 166.376953125, 47.373046875, -89.912109375, 0.6373937726020813 ]
2.966667
89
0
89
0
[ 5.625, 157.67578125, 152.666015625, 46.23046875, -87.802734375, 0.28248587250709534 ]
[ 3.603515625, 163.740234375, 163.916015625, 47.197265625, -89.6484375, 0.6373937726020813 ]
3
90
0
90
0
[ 6.50390625, 155.654296875, 150.29296875, 46.669921875, -87.5390625, 0.28248587250709534 ]
[ 4.21875, 161.806640625, 161.3671875, 47.109375, -89.208984375, 0.6373937726020813 ]
3.033333
91
0
91
0
[ 7.55859375, 153.544921875, 147.744140625, 47.900390625, -87.5390625, 0.28248587250709534 ]
[ 5.009765625, 159.43359375, 158.818359375, 47.109375, -88.76953125, 0.6373937726020813 ]
3.066667
92
0
92
0
[ 8.7890625, 151.435546875, 145.283203125, 49.130859375, -87.626953125, 0.28248587250709534 ]
[ 5.888671875, 157.236328125, 156.357421875, 47.197265625, -88.505859375, 0.6373937726020813 ]
3.1
93
0
93
0
[ 10.107421875, 149.58984375, 142.91015625, 49.833984375, -87.5390625, 0.28248587250709534 ]
[ 6.767578125, 155.126953125, 153.984375, 47.724609375, -88.2421875, 0.6373937726020813 ]
3.133333
94
0
94
0
[ 11.6015625, 147.83203125, 140.9765625, 50.09765625, -87.890625, 0.28248587250709534 ]
[ 7.91015625, 152.9296875, 151.5234375, 48.427734375, -88.154296875, 0.6373937726020813 ]
3.166667
95
0
95
0
[ 13.359375, 146.25, 139.21875, 50.09765625, -88.2421875, 0.28248587250709534 ]
[ 9.140625, 150.99609375, 149.150390625, 49.04296875, -88.154296875, 0.6373937726020813 ]
3.2
96
0
96
0
[ 15.1171875, 144.755859375, 137.63671875, 50.361328125, -88.681640625, 0.28248587250709534 ]
[ 10.546875, 149.23828125, 146.77734375, 49.39453125, -88.154296875, 0.6373937726020813 ]
3.233333
97
0
97
0
[ 16.962890625, 143.349609375, 136.0546875, 50.888671875, -89.12109375, 0.28248587250709534 ]
[ 12.041015625, 147.48046875, 144.66796875, 49.658203125, -88.154296875, 0.6373937726020813 ]
3.266667
98
0
98
0
[ 18.80859375, 141.943359375, 134.560546875, 51.50390625, -89.47265625, 0.28248587250709534 ]
[ 13.88671875, 145.8984375, 142.734375, 50.009765625, -88.2421875, 0.6373937726020813 ]
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": 22854,
    "total_tasks": 1,
    "total_videos": 150,
    "total_chunks": 1,
    "chunks_size": 1000,
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    "splits": {
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    "features": {
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                "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",
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                "main_wrist_roll",
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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Size of downloaded dataset files:
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