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Datasets:
robotchip
/
grip_fabric1

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so101
tutorial
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Dask
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action
sequence
observation.state
sequence
timestamp
float32
0
24.3
frame_index
int64
0
728
episode_index
int64
0
4
index
int64
0
2.92k
task_index
int64
0
0
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[ -1.142578125, 118.564453125, 87.5390625, -26.54296875, 21.83745574951172, 159.169921875 ]
2.433333
73
0
73
0
[ -5.712890625, 115.576171875, 91.58203125, -26.279296875, 22.125812530517578, 155.21484375 ]
[ -2.373046875, 118.564453125, 88.681640625, -26.54296875, 21.83745574951172, 158.291015625 ]
2.466667
74
0
74
0
[ -6.591796875, 115.224609375, 91.93359375, -26.279296875, 22.234272003173828, 153.896484375 ]
[ -3.427734375, 118.564453125, 89.736328125, -26.54296875, 21.83745574951172, 157.32421875 ]
2.5
75
0
75
0
[ -7.294921875, 114.873046875, 92.197265625, -26.279296875, 22.234272003173828, 152.490234375 ]
[ -4.5703125, 118.564453125, 90.615234375, -26.54296875, 21.83745574951172, 156.4453125 ]
2.533333
76
0
76
0
[ -7.91015625, 114.78515625, 92.28515625, -26.279296875, 22.234272003173828, 151.083984375 ]
[ -5.625, 118.388671875, 91.23046875, -26.54296875, 21.83745574951172, 155.126953125 ]
2.566667
77
0
77
0
[ -8.525390625, 114.697265625, 92.373046875, -26.279296875, 22.234272003173828, 149.853515625 ]
[ -6.240234375, 118.125, 91.669921875, -26.54296875, 21.83745574951172, 153.896484375 ]
2.6
78
0
78
0
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2.633333
79
0
79
0
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2.666667
80
0
80
0
[ -10.546875, 114.78515625, 92.28515625, -26.19140625, 22.34273338317871, 146.513671875 ]
[ -8.0859375, 118.037109375, 92.197265625, -26.54296875, 21.83745574951172, 150.029296875 ]
2.7
81
0
81
0
[ -11.162109375, 114.78515625, 92.109375, -26.19140625, 22.34273338317871, 145.986328125 ]
[ -8.7890625, 118.037109375, 92.197265625, -26.54296875, 21.83745574951172, 148.798828125 ]
2.733333
82
0
82
0
[ -11.865234375, 114.78515625, 91.7578125, -26.19140625, 22.45119285583496, 145.634765625 ]
[ -9.66796875, 118.037109375, 92.28515625, -26.54296875, 21.83745574951172, 147.744140625 ]
2.766667
83
0
83
0
[ -12.392578125, 114.697265625, 91.7578125, -26.19140625, 22.45119285583496, 145.01953125 ]
[ -10.546875, 118.037109375, 92.28515625, -26.54296875, 21.83745574951172, 146.865234375 ]
2.8
84
0
84
0
[ -12.83203125, 114.697265625, 91.669921875, -26.19140625, 22.45119285583496, 144.4921875 ]
[ -11.07421875, 118.037109375, 92.28515625, -26.54296875, 21.908126831054688, 146.337890625 ]
2.833333
85
0
85
0
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[ -11.689453125, 118.037109375, 92.28515625, -26.54296875, 21.978797912597656, 145.634765625 ]
2.866667
86
0
86
0
[ -13.447265625, 114.873046875, 91.58203125, -26.54296875, 22.45119285583496, 143.4375 ]
[ -11.77734375, 118.037109375, 92.28515625, -26.54296875, 21.978797912597656, 145.01953125 ]
2.9
87
0
87
0
[ -13.447265625, 115.3125, 90.791015625, -26.630859375, 22.45119285583496, 142.998046875 ]
[ -12.216796875, 118.037109375, 92.28515625, -26.54296875, 21.978797912597656, 144.404296875 ]
2.933333
88
0
88
0
[ -13.271484375, 115.576171875, 90.17578125, -26.71875, 22.45119285583496, 142.55859375 ]
[ -12.568359375, 118.037109375, 92.197265625, -26.54296875, 21.978797912597656, 143.7890625 ]
2.966667
89
0
89
0
[ -13.0078125, 115.576171875, 89.6484375, -26.89453125, 22.45119285583496, 142.03125 ]
[ -13.0078125, 118.037109375, 91.7578125, -26.54296875, 21.978797912597656, 143.349609375 ]
3
90
0
90
0
[ -12.919921875, 115.576171875, 89.12109375, -26.982421875, 22.45119285583496, 141.50390625 ]
[ -13.359375, 118.037109375, 91.23046875, -26.54296875, 21.978797912597656, 142.822265625 ]
3.033333
91
0
91
0
[ -12.919921875, 115.576171875, 88.857421875, -26.982421875, 22.45119285583496, 140.888671875 ]
[ -13.447265625, 118.037109375, 90.791015625, -26.54296875, 21.978797912597656, 142.3828125 ]
3.066667
92
0
92
0
[ -12.919921875, 115.576171875, 88.857421875, -26.982421875, 22.55965232849121, 140.361328125 ]
[ -13.359375, 118.037109375, 90.263671875, -26.54296875, 21.978797912597656, 141.767578125 ]
3.1
93
0
93
0
[ -12.919921875, 115.576171875, 88.76953125, -26.982421875, 22.55965232849121, 139.74609375 ]
[ -13.095703125, 118.037109375, 90, -26.54296875, 21.978797912597656, 141.240234375 ]
3.133333
94
0
94
0
[ -12.919921875, 115.576171875, 88.76953125, -26.982421875, 22.668113708496094, 139.306640625 ]
[ -12.83203125, 118.037109375, 89.82421875, -26.54296875, 21.978797912597656, 140.625 ]
3.166667
95
0
95
0
[ -12.919921875, 115.576171875, 88.59375, -26.982421875, 23.75271224975586, 138.8671875 ]
[ -12.744140625, 118.037109375, 89.82421875, -26.54296875, 21.978797912597656, 140.09765625 ]
3.2
96
0
96
0
[ -12.919921875, 115.83984375, 87.978515625, -26.982421875, 26.355749130249023, 138.603515625 ]
[ -12.744140625, 118.037109375, 89.6484375, -26.54296875, 22.120141983032227, 139.5703125 ]
3.233333
97
0
97
0
[ -12.83203125, 116.19140625, 87.5390625, -26.982421875, 30.260303497314453, 138.515625 ]
[ -12.83203125, 118.037109375, 89.384765625, -26.54296875, 22.826854705810547, 139.04296875 ]
3.266667
98
0
98
0
[ -12.48046875, 116.89453125, 87.01171875, -27.0703125, 34.598697662353516, 138.603515625 ]
[ -12.919921875, 118.037109375, 88.9453125, -26.54296875, 24.028268814086914, 138.69140625 ]
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": "so101",
    "total_episodes": 5,
    "total_frames": 2917,
    "total_tasks": 1,
    "total_videos": 10,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:5"
    },
    "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": [
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            "names": [
                "main_shoulder_pan",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper",
                "main_shoulder_lift"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "main_shoulder_pan",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper",
                "main_shoulder_lift"
            ]
        },
        "observation.images.laptop": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
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            "info": {
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        "observation.images.phone": {
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            "names": [
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                "width",
                "channels"
            ],
            "info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "video.channels": 3,
                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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