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Datasets:
FeiYjf
/
Hold_Pieces

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
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action
sequence
observation.state
sequence
timestamp
float32
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28.7
frame_index
int64
0
862
episode_index
int64
0
9
index
int64
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4.99k
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int64
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[ 2.8125, 85.4296875, 78.046875, 83.232421875, -7.119140625, 3.515263557434082 ]
[ 2.373046875, 85.166015625, 78.662109375, 84.462890625, -6.416015625, 4.596527099609375 ]
2.433333
73
0
73
0
[ 2.8125, 85.78125, 78.134765625, 83.3203125, -7.119140625, 3.515263557434082 ]
[ 2.373046875, 84.990234375, 78.662109375, 84.111328125, -6.416015625, 4.596527099609375 ]
2.466667
74
0
74
0
[ 2.8125, 85.869140625, 78.22265625, 83.408203125, -7.470703125, 3.515263557434082 ]
[ 2.373046875, 84.814453125, 78.662109375, 83.84765625, -6.416015625, 4.596527099609375 ]
2.5
75
0
75
0
[ 2.8125, 85.869140625, 78.310546875, 83.408203125, -7.55859375, 3.515263557434082 ]
[ 2.373046875, 84.814453125, 78.662109375, 83.671875, -6.416015625, 4.596527099609375 ]
2.533333
76
0
76
0
[ 2.8125, 85.95703125, 78.486328125, 83.49609375, -7.55859375, 3.515263557434082 ]
[ 2.373046875, 84.814453125, 78.662109375, 83.671875, -6.416015625, 4.596527099609375 ]
2.566667
77
0
77
0
[ 2.8125, 85.95703125, 78.662109375, 83.49609375, -7.470703125, 3.515263557434082 ]
[ 2.373046875, 84.814453125, 78.662109375, 83.671875, -6.416015625, 4.596527099609375 ]
2.6
78
0
78
0
[ 2.8125, 85.95703125, 78.662109375, 83.49609375, -7.470703125, 3.515263557434082 ]
[ 2.373046875, 84.814453125, 78.662109375, 83.671875, -6.416015625, 4.596527099609375 ]
2.633333
79
0
79
0
[ 2.8125, 85.95703125, 78.662109375, 83.583984375, -7.55859375, 3.515263557434082 ]
[ 2.373046875, 84.814453125, 78.662109375, 83.583984375, -6.416015625, 4.596527099609375 ]
2.666667
80
0
80
0
[ 2.8125, 85.95703125, 78.662109375, 83.583984375, -7.646484375, 3.515263557434082 ]
[ 2.373046875, 84.814453125, 78.662109375, 83.583984375, -6.416015625, 4.596527099609375 ]
2.7
81
0
81
0
[ 2.63671875, 86.044921875, 78.662109375, 83.583984375, -7.646484375, 3.515263557434082 ]
[ 2.373046875, 84.814453125, 78.662109375, 83.583984375, -6.416015625, 4.596527099609375 ]
2.733333
82
0
82
0
[ 2.373046875, 86.044921875, 78.662109375, 83.84765625, -7.646484375, 3.515263557434082 ]
[ 2.373046875, 84.814453125, 78.662109375, 83.583984375, -6.416015625, 4.596527099609375 ]
2.766667
83
0
83
0
[ 2.197265625, 86.044921875, 78.662109375, 84.638671875, -7.646484375, 3.515263557434082 ]
[ 2.373046875, 84.814453125, 78.662109375, 83.583984375, -6.416015625, 4.596527099609375 ]
2.8
84
0
84
0
[ 2.109375, 86.044921875, 78.662109375, 85.78125, -7.646484375, 3.515263557434082 ]
[ 2.373046875, 84.814453125, 78.662109375, 83.583984375, -6.416015625, 4.596527099609375 ]
2.833333
85
0
85
0
[ 2.109375, 86.044921875, 78.662109375, 87.451171875, -7.646484375, 3.515263557434082 ]
[ 2.373046875, 84.814453125, 78.662109375, 83.671875, -6.416015625, 4.596527099609375 ]
2.866667
86
0
86
0
[ 2.021484375, 86.044921875, 78.3984375, 89.296875, -7.734375, 3.515263557434082 ]
[ 2.373046875, 84.814453125, 78.662109375, 84.287109375, -6.416015625, 4.596527099609375 ]
2.9
87
0
87
0
[ 2.021484375, 86.044921875, 78.046875, 91.0546875, -7.822265625, 3.515263557434082 ]
[ 2.373046875, 84.814453125, 78.662109375, 85.25390625, -6.416015625, 4.596527099609375 ]
2.933333
88
0
88
0
[ 2.021484375, 86.044921875, 77.958984375, 91.93359375, -7.822265625, 3.515263557434082 ]
[ 2.373046875, 84.814453125, 78.662109375, 86.8359375, -6.416015625, 4.596527099609375 ]
2.966667
89
0
89
0
[ 2.021484375, 86.044921875, 77.87109375, 92.63671875, -7.91015625, 3.515263557434082 ]
[ 2.197265625, 84.814453125, 78.662109375, 88.330078125, -6.416015625, 4.596527099609375 ]
3
90
0
90
0
[ 2.021484375, 86.044921875, 77.87109375, 92.900390625, -7.91015625, 3.515263557434082 ]
[ 2.28515625, 84.814453125, 78.486328125, 89.296875, -6.416015625, 4.596527099609375 ]
3.033333
91
0
91
0
[ 2.021484375, 86.044921875, 77.87109375, 93.251953125, -7.91015625, 3.515263557434082 ]
[ 2.373046875, 84.814453125, 78.3984375, 90, -6.416015625, 4.596527099609375 ]
3.066667
92
0
92
0
[ 2.021484375, 86.044921875, 77.87109375, 93.33984375, -7.91015625, 3.515263557434082 ]
[ 2.373046875, 84.814453125, 78.3984375, 90.791015625, -6.416015625, 4.596527099609375 ]
3.1
93
0
93
0
[ 2.021484375, 86.044921875, 77.87109375, 93.33984375, -7.91015625, 3.515263557434082 ]
[ 2.373046875, 84.814453125, 78.3984375, 91.58203125, -6.416015625, 4.596527099609375 ]
3.133333
94
0
94
0
[ 2.021484375, 86.044921875, 77.87109375, 93.33984375, -7.91015625, 3.515263557434082 ]
[ 2.373046875, 84.814453125, 78.3984375, 91.93359375, -6.416015625, 4.596527099609375 ]
3.166667
95
0
95
0
[ 2.021484375, 86.044921875, 77.87109375, 93.076171875, -7.91015625, 3.515263557434082 ]
[ 2.28515625, 84.814453125, 78.3984375, 92.197265625, -6.416015625, 4.596527099609375 ]
3.2
96
0
96
0
[ 2.021484375, 86.044921875, 77.87109375, 92.900390625, -7.91015625, 3.515263557434082 ]
[ 2.373046875, 84.814453125, 78.3984375, 92.373046875, -6.416015625, 4.596527099609375 ]
3.233333
97
0
97
0
[ 2.021484375, 86.044921875, 77.87109375, 92.900390625, -7.91015625, 3.515263557434082 ]
[ 2.373046875, 84.814453125, 78.3984375, 92.4609375, -6.416015625, 4.596527099609375 ]
3.266667
98
0
98
0
[ 2.021484375, 86.044921875, 77.87109375, 92.8125, -7.91015625, 3.515263557434082 ]
[ 2.373046875, 84.814453125, 78.3984375, 92.28515625, -6.416015625, 4.596527099609375 ]
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": "v2.0",
    "robot_type": "so100",
    "total_episodes": 10,
    "total_frames": 4990,
    "total_tasks": 1,
    "total_videos": 20,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:10"
    },
    "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.left": {
            "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
            }
        },
        "observation.images.right": {
            "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": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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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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Number of rows:
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