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Datasets:
roboticshack
/
left-arm-grasp-lego-brick

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
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Dask
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action
sequence
observation.state
sequence
timestamp
float32
0
19.9
frame_index
int64
0
597
episode_index
int64
0
99
index
int64
0
59.7k
task_index
int64
0
0
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74
0
[ -0.263671875, 171.123046875, 166.552734375, 72.0703125, -85.4296875, 0.29296875 ]
[ 0, 174.375, 170.5078125, 73.388671875, -84.0234375, 0.4332129955291748 ]
2.5
75
0
75
0
[ -0.087890625, 170.068359375, 165.76171875, 71.982421875, -85.95703125, 0.29296875 ]
[ 0, 173.408203125, 170.068359375, 73.212890625, -84.375, 0.4332129955291748 ]
2.533333
76
0
76
0
[ 0.087890625, 168.92578125, 164.8828125, 71.982421875, -86.572265625, 0.29296875 ]
[ 0, 171.73828125, 169.189453125, 72.7734375, -85.078125, 0.4332129955291748 ]
2.566667
77
0
77
0
[ 0.3515625, 167.87109375, 164.00390625, 71.982421875, -87.275390625, 0.29296875 ]
[ 0, 171.123046875, 168.57421875, 72.685546875, -85.517578125, 0.4332129955291748 ]
2.6
78
0
78
0
[ 0.703125, 166.728515625, 163.037109375, 71.806640625, -87.890625, 0.29296875 ]
[ 0, 169.892578125, 167.87109375, 72.59765625, -86.1328125, 0.4332129955291748 ]
2.633333
79
0
79
0
[ 1.142578125, 165.41015625, 162.0703125, 71.455078125, -88.857421875, 0.29296875 ]
[ 0.087890625, 168.3984375, 166.904296875, 72.421875, -86.748046875, 0.4332129955291748 ]
2.666667
80
0
80
0
[ 1.669921875, 163.828125, 161.015625, 70.927734375, -89.82421875, 0.29296875 ]
[ 0.52734375, 167.51953125, 166.025390625, 72.24609375, -87.5390625, 0.4332129955291748 ]
2.7
81
0
81
0
[ 2.28515625, 162.24609375, 159.9609375, 70.224609375, -90.87890625, 0.29296875 ]
[ 0.87890625, 166.201171875, 164.970703125, 71.89453125, -88.2421875, 0.4332129955291748 ]
2.733333
82
0
82
0
[ 2.8125, 160.6640625, 158.90625, 69.521484375, -91.93359375, 0.29296875 ]
[ 1.318359375, 164.53125, 164.00390625, 71.455078125, -89.12109375, 0.4332129955291748 ]
2.766667
83
0
83
0
[ 3.33984375, 159.2578125, 157.8515625, 69.08203125, -93.076171875, 0.29296875 ]
[ 1.845703125, 162.861328125, 162.7734375, 70.751953125, -90.263671875, 0.4332129955291748 ]
2.8
84
0
84
0
[ 3.955078125, 157.67578125, 156.62109375, 68.994140625, -94.482421875, 0.29296875 ]
[ 2.373046875, 161.806640625, 161.806640625, 70.3125, -91.23046875, 0.4332129955291748 ]
2.833333
85
0
85
0
[ 4.482421875, 156.09375, 155.21484375, 68.994140625, -95.80078125, 0.29296875 ]
[ 2.8125, 160.400390625, 160.6640625, 69.873046875, -92.373046875, 0.4332129955291748 ]
2.866667
86
0
86
0
[ 5.185546875, 154.51171875, 153.80859375, 69.169921875, -97.998046875, 0.29296875 ]
[ 3.427734375, 158.37890625, 159.345703125, 69.697265625, -93.69140625, 0.4332129955291748 ]
2.9
87
0
87
0
[ 5.888671875, 153.017578125, 152.314453125, 69.43359375, -100.283203125, 0.29296875 ]
[ 4.04296875, 156.708984375, 158.115234375, 69.697265625, -95.185546875, 0.4332129955291748 ]
2.933333
88
0
88
0
[ 6.6796875, 151.5234375, 150.99609375, 69.78515625, -102.919921875, 0.29296875 ]
[ 4.5703125, 155.478515625, 156.884765625, 69.697265625, -96.943359375, 0.4332129955291748 ]
2.966667
89
0
89
0
[ 7.470703125, 150.029296875, 149.765625, 69.873046875, -105.380859375, 0.29296875 ]
[ 5.361328125, 153.984375, 155.478515625, 69.78515625, -98.96484375, 0.4332129955291748 ]
3
90
0
90
0
[ 8.349609375, 148.623046875, 148.623046875, 69.9609375, -107.75390625, 0.29296875 ]
[ 6.15234375, 152.40234375, 154.16015625, 69.78515625, -101.42578125, 0.4332129955291748 ]
3.033333
91
0
91
0
[ 9.228515625, 147.3046875, 147.744140625, 69.609375, -110.126953125, 0.29296875 ]
[ 6.85546875, 150.908203125, 152.9296875, 69.873046875, -103.53515625, 0.4332129955291748 ]
3.066667
92
0
92
0
[ 9.84375, 146.25, 147.041015625, 68.90625, -111.97265625, 0.29296875 ]
[ 7.470703125, 149.94140625, 152.05078125, 69.873046875, -105.380859375, 0.4332129955291748 ]
3.1
93
0
93
0
[ 10.458984375, 145.37109375, 146.689453125, 68.02734375, -113.73046875, 0.29296875 ]
[ 7.646484375, 149.501953125, 151.611328125, 69.873046875, -105.99609375, 0.4332129955291748 ]
3.133333
94
0
94
0
[ 10.986328125, 144.580078125, 146.42578125, 67.1484375, -115.400390625, 0.29296875 ]
[ 7.91015625, 149.150390625, 151.435546875, 69.873046875, -106.5234375, 0.4332129955291748 ]
3.166667
95
0
95
0
[ 11.337890625, 143.525390625, 145.8984375, 66.4453125, -116.630859375, 0.29296875 ]
[ 8.349609375, 148.359375, 150.908203125, 69.521484375, -107.75390625, 0.4332129955291748 ]
3.2
96
0
96
0
[ 11.513671875, 142.3828125, 145.1953125, 65.7421875, -117.421875, 0.29296875 ]
[ 10.01953125, 145.8984375, 149.501953125, 67.763671875, -111.97265625, 0.4332129955291748 ]
3.233333
97
0
97
0
[ 11.513671875, 141.416015625, 144.4921875, 65.0390625, -117.94921875, 0.29296875 ]
[ 10.546875, 145.634765625, 149.23828125, 68.291015625, -112.763671875, 0.4332129955291748 ]
3.266667
98
0
98
0
[ 11.513671875, 140.361328125, 143.701171875, 64.423828125, -118.4765625, 0.29296875 ]
[ 10.107421875, 144.931640625, 148.7109375, 67.5, -114.2578125, 0.4332129955291748 ]
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": 99,
    "total_frames": 59115,
    "total_tasks": 1,
    "total_videos": 198,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:99"
    },
    "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": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "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": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
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            "info": {
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                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.phone": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
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                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        }
    }
}

Citation

BibTeX:

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