Hugging Face's logo

Datasets:
LTH4663
/
fod_shape_grasp_20260920

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
xet
 Community
1
Dataset Viewer
Auto-converted to Parquet Duplicate
Search is not available for this dataset
action
list
observation.state
list
timestamp
float32
0
19.9
frame_index
int64
0
498
episode_index
int64
0
8
index
int64
0
4.49k
task_index
int64
0
0
[ -16.30769157409668, -103.86813354492188, 98.63735961914062, 76.30769348144531, 19.47252655029297, 0 ]
[ -16.21977996826172, -98.5054931640625, 98.68132019042969, 75.82417297363281, 19.120878219604492, 0.4989308714866638 ]
0
0
0
0
0
[ -16.395605087280273, -103.86813354492188, 98.63735961914062, 76.30769348144531, 19.384614944458008, 0 ]
[ -16.21977996826172, -98.5054931640625, 98.68132019042969, 75.82417297363281, 19.120878219604492, 0.4989308714866638 ]
0.04
1
0
1
0
[ -16.483516693115234, -103.86813354492188, 98.63735961914062, 76.30769348144531, 19.384614944458008, 0 ]
[ -16.21977996826172, -98.5054931640625, 98.68132019042969, 75.82417297363281, 19.120878219604492, 0.4989308714866638 ]
0.08
2
0
2
0
[ -16.659339904785156, -103.86813354492188, 98.63735961914062, 76.30769348144531, 19.47252655029297, 0 ]
[ -16.21977996826172, -98.5054931640625, 98.68132019042969, 75.82417297363281, 19.120878219604492, 0.4989308714866638 ]
0.12
3
0
3
0
[ -16.659339904785156, -103.86813354492188, 98.63735961914062, 76.30769348144531, 19.560440063476562, 0 ]
[ -16.21977996826172, -98.5054931640625, 98.68132019042969, 75.82417297363281, 19.120878219604492, 0.4989308714866638 ]
0.16
4
0
4
0
[ -16.659339904785156, -103.86813354492188, 98.63735961914062, 76.30769348144531, 19.560440063476562, 0 ]
[ -16.21977996826172, -98.5054931640625, 98.68132019042969, 75.82417297363281, 19.120878219604492, 0.4989308714866638 ]
0.2
5
0
5
0
[ -16.659339904785156, -103.86813354492188, 98.63735961914062, 76.30769348144531, 19.47252655029297, 0 ]
[ -16.21977996826172, -98.5054931640625, 98.68132019042969, 75.82417297363281, 19.120878219604492, 0.4989308714866638 ]
0.24
6
0
6
0
[ -16.659339904785156, -103.86813354492188, 98.63735961914062, 76.30769348144531, 19.47252655029297, 0 ]
[ -16.21977996826172, -98.5054931640625, 98.68132019042969, 75.82417297363281, 19.120878219604492, 0.4989308714866638 ]
0.28
7
0
7
0
[ -16.659339904785156, -103.86813354492188, 98.63735961914062, 76.30769348144531, 19.47252655029297, 0 ]
[ -16.21977996826172, -98.5054931640625, 98.68132019042969, 75.82417297363281, 19.120878219604492, 0.4989308714866638 ]
0.32
8
0
8
0
[ -16.483516693115234, -103.86813354492188, 98.63735961914062, 76.30769348144531, 19.560440063476562, 0 ]
[ -16.21977996826172, -98.5054931640625, 98.68132019042969, 75.82417297363281, 19.120878219604492, 0.4989308714866638 ]
0.36
9
0
9
0
[ -16.21977996826172, -103.86813354492188, 98.63735961914062, 76.30769348144531, 19.736263275146484, 0 ]
[ -16.21977996826172, -98.5054931640625, 98.68132019042969, 75.82417297363281, 19.120878219604492, 0.4989308714866638 ]
0.4
10
0
10
0
[ -16.131868362426758, -103.86813354492188, 98.63735961914062, 76.30769348144531, 19.824174880981445, 0 ]
[ -16.21977996826172, -98.5054931640625, 98.68132019042969, 75.82417297363281, 19.120878219604492, 0.4989308714866638 ]
0.44
11
0
11
0
[ -16.131868362426758, -103.86813354492188, 98.63735961914062, 76.30769348144531, 19.736263275146484, 0 ]
[ -16.21977996826172, -98.5054931640625, 98.68132019042969, 75.82417297363281, 19.120878219604492, 0.4989308714866638 ]
0.48
12
0
12
0
[ -16.131868362426758, -103.86813354492188, 98.63735961914062, 76.30769348144531, 19.648351669311523, 0 ]
[ -16.21977996826172, -98.5054931640625, 98.68132019042969, 75.82417297363281, 19.120878219604492, 0.4989308714866638 ]
0.52
13
0
13
0
[ -16.131868362426758, -103.86813354492188, 98.63735961914062, 76.30769348144531, 19.648351669311523, 0 ]
[ -16.21977996826172, -98.5054931640625, 98.68132019042969, 75.82417297363281, 19.120878219604492, 0.4989308714866638 ]
0.56
14
0
14
0
[ -16.131868362426758, -103.86813354492188, 98.63735961914062, 76.30769348144531, 19.824174880981445, 0 ]
[ -16.21977996826172, -98.5054931640625, 98.68132019042969, 75.82417297363281, 19.120878219604492, 0.4989308714866638 ]
0.6
15
0
15
0
[ -16.131868362426758, -103.86813354492188, 98.63735961914062, 76.30769348144531, 19.91208839416504, 0 ]
[ -16.21977996826172, -98.5054931640625, 98.68132019042969, 75.82417297363281, 19.120878219604492, 0.4989308714866638 ]
0.64
16
0
16
0
[ -16.131868362426758, -103.86813354492188, 98.63735961914062, 76.30769348144531, 19.91208839416504, 0 ]
[ -16.21977996826172, -98.5054931640625, 98.68132019042969, 75.82417297363281, 19.120878219604492, 0.4989308714866638 ]
0.68
17
0
17
0
[ -16.131868362426758, -103.86813354492188, 98.63735961914062, 76.30769348144531, 19.91208839416504, 0 ]
[ -16.21977996826172, -98.5054931640625, 98.68132019042969, 75.82417297363281, 19.120878219604492, 0.4989308714866638 ]
0.72
18
0
18
0
[ -16.131868362426758, -103.86813354492188, 98.63735961914062, 76.30769348144531, 19.736263275146484, 0 ]
[ -16.21977996826172, -98.5054931640625, 98.68132019042969, 75.82417297363281, 19.296703338623047, 0.4989308714866638 ]
0.76
19
0
19
0
[ -16.131868362426758, -103.86813354492188, 98.63735961914062, 76.30769348144531, 19.824174880981445, 0 ]
[ -16.21977996826172, -98.5054931640625, 98.68132019042969, 75.82417297363281, 19.384614944458008, 0.4989308714866638 ]
0.8
20
0
20
0
[ -16.131868362426758, -103.86813354492188, 98.63735961914062, 76.30769348144531, 19.736263275146484, 0 ]
[ -16.21977996826172, -98.5054931640625, 98.68132019042969, 75.82417297363281, 19.384614944458008, 0.4989308714866638 ]
0.84
21
0
21
0
[ -16.131868362426758, -103.86813354492188, 98.63735961914062, 76.30769348144531, 19.384614944458008, 0 ]
[ -16.21977996826172, -98.5054931640625, 98.68132019042969, 75.82417297363281, 19.384614944458008, 0.4989308714866638 ]
0.88
22
0
22
0
[ -16.131868362426758, -103.86813354492188, 98.63735961914062, 76.30769348144531, 19.296703338623047, 0 ]
[ -16.21977996826172, -98.5054931640625, 98.68132019042969, 75.82417297363281, 19.384614944458008, 0.4989308714866638 ]
0.92
23
0
23
0
[ -16.043956756591797, -103.86813354492188, 98.63735961914062, 76.30769348144531, 19.296703338623047, 0 ]
[ -16.21977996826172, -98.5054931640625, 98.68132019042969, 75.82417297363281, 19.384614944458008, 0.4989308714866638 ]
0.96
24
0
24
0
[ -16.043956756591797, -103.86813354492188, 98.63735961914062, 76.30769348144531, 19.120878219604492, 0 ]
[ -16.21977996826172, -98.5054931640625, 98.68132019042969, 75.82417297363281, 19.384614944458008, 0.4989308714866638 ]
1
25
0
25
0
[ -16.043956756591797, -103.86813354492188, 98.63735961914062, 76.30769348144531, 18.593406677246094, 0 ]
[ -16.21977996826172, -98.5054931640625, 98.68132019042969, 75.82417297363281, 19.384614944458008, 0.4989308714866638 ]
1.04
26
0
26
0
[ -16.043956756591797, -103.86813354492188, 98.63735961914062, 76.30769348144531, 18.593406677246094, 0 ]
[ -16.21977996826172, -98.5054931640625, 98.68132019042969, 75.82417297363281, 19.384614944458008, 0.4989308714866638 ]
1.08
27
0
27
0
[ -16.043956756591797, -103.86813354492188, 98.63735961914062, 76.30769348144531, 18.94505500793457, 0 ]
[ -16.21977996826172, -98.5054931640625, 98.68132019042969, 75.82417297363281, 19.384614944458008, 0.4989308714866638 ]
1.12
28
0
28
0
[ -16.043956756591797, -103.86813354492188, 98.63735961914062, 76.30769348144531, 18.94505500793457, 0 ]
[ -16.21977996826172, -98.5054931640625, 98.68132019042969, 75.82417297363281, 19.296703338623047, 0.4989308714866638 ]
1.16
29
0
29
0
[ -16.043956756591797, -103.78022003173828, 98.63735961914062, 76.30769348144531, 18.593406677246094, 0.08319467306137085 ]
[ -16.21977996826172, -98.5054931640625, 98.68132019042969, 75.82417297363281, 19.296703338623047, 0.4989308714866638 ]
1.2
30
0
30
0
[ -16.043956756591797, -103.78022003173828, 98.63735961914062, 76.30769348144531, 18.065933227539062, 0.08319467306137085 ]
[ -16.21977996826172, -98.5054931640625, 98.68132019042969, 75.82417297363281, 19.296703338623047, 0.4989308714866638 ]
1.24
31
0
31
0
[ -16.043956756591797, -103.78022003173828, 98.63735961914062, 76.30769348144531, 17.27472496032715, 0.08319467306137085 ]
[ -16.21977996826172, -98.5054931640625, 98.68132019042969, 75.82417297363281, 19.208791732788086, 0.4989308714866638 ]
1.28
32
0
32
0
[ -16.043956756591797, -103.78022003173828, 98.54945373535156, 76.21977996826172, 16.30769157409668, 0.08319467306137085 ]
[ -16.21977996826172, -98.5054931640625, 98.68132019042969, 75.82417297363281, 18.769229888916016, 0.4989308714866638 ]
1.32
33
0
33
0
[ -16.043956756591797, -103.78022003173828, 98.19779968261719, 76.21977996826172, 15.516483306884766, 0.08319467306137085 ]
[ -16.21977996826172, -98.5054931640625, 98.68132019042969, 75.82417297363281, 18.153846740722656, 0.4989308714866638 ]
1.36
34
0
34
0
[ -16.043956756591797, -103.16483306884766, 98.02198028564453, 76.21977996826172, 15.076923370361328, 0.08319467306137085 ]
[ -16.21977996826172, -98.5054931640625, 98.68132019042969, 75.82417297363281, 17.36263656616211, 0.4989308714866638 ]
1.4
35
0
35
0
[ -16.043956756591797, -102.10989379882812, 98.02198028564453, 76.21977996826172, 14.461538314819336, 0.08319467306137085 ]
[ -16.21977996826172, -98.5054931640625, 98.68132019042969, 75.82417297363281, 16.659339904785156, 0.4989308714866638 ]
1.44
36
0
36
0
[ -16.043956756591797, -101.05494689941406, 97.31867980957031, 76.21977996826172, 14.10988998413086, 0.08319467306137085 ]
[ -16.21977996826172, -98.5054931640625, 98.68132019042969, 75.82417297363281, 16.043956756591797, 0.4989308714866638 ]
1.48
37
0
37
0
[ -15.95604419708252, -99.47252655029297, 96.17582702636719, 76.21977996826172, 14.10988998413086, 0.08319467306137085 ]
[ -16.21977996826172, -98.5054931640625, 98.68132019042969, 75.82417297363281, 15.340659141540527, 0.4989308714866638 ]
1.52
38
0
38
0
[ -15.692307472229004, -97.18681335449219, 94.5054931640625, 76.21977996826172, 14.10988998413086, 0.1663893461227417 ]
[ -16.21977996826172, -98.5054931640625, 98.68132019042969, 75.82417297363281, 14.90109920501709, 0.4989308714866638 ]
1.56
39
0
39
0
[ -14.637362480163574, -94.19779968261719, 92.3956069946289, 76.13186645507812, 14.461538314819336, 0.1663893461227417 ]
[ -16.21977996826172, -98.4175796508789, 98.5054931640625, 75.82417297363281, 14.90109920501709, 0.4989308714866638 ]
1.6
40
0
40
0
[ -13.230769157409668, -90.5934066772461, 89.84615325927734, 75.51648712158203, 15.692307472229004, 0.1663893461227417 ]
[ -16.131868362426758, -97.80220031738281, 97.45054626464844, 75.82417297363281, 14.725275039672852, 0.4989308714866638 ]
1.64
41
0
41
0
[ -11.560439109802246, -86.10989379882812, 87.12088012695312, 73.67032623291016, 17.714284896850586, 0.1663893461227417 ]
[ -15.340659141540527, -96.30769348144531, 95.86813354492188, 75.82417297363281, 14.725275039672852, 0.4989308714866638 ]
1.68
42
0
42
0
[ -9.978021621704102, -80.21977996826172, 84.04395294189453, 70.94505310058594, 19.560440063476562, 0.1663893461227417 ]
[ -14.10988998413086, -93.84615325927734, 93.93406677246094, 75.82417297363281, 15.076923370361328, 0.4989308714866638 ]
1.72
43
0
43
0
[ -8.659340858459473, -73.62637329101562, 80.70330047607422, 67.42857360839844, 21.58241844177246, 0.1663893461227417 ]
[ -12.615385055541992, -90.68132019042969, 91.56044006347656, 74.68132019042969, 16.131868362426758, 0.4989308714866638 ]
1.76
44
0
44
0
[ -7.604395389556885, -66.5054931640625, 76.92308044433594, 63.912086486816406, 23.16483497619629, 0.1663893461227417 ]
[ -11.120879173278809, -86.37362670898438, 88.92308044433594, 72.92308044433594, 17.714284896850586, 0.4989308714866638 ]
1.8
45
0
45
0
[ -6.901098728179932, -59.38461685180664, 73.23076629638672, 60.659339904785156, 24.21977996826172, 0.1663893461227417 ]
[ -9.89011001586914, -81.53845977783203, 86.02198028564453, 70.37362670898438, 19.384614944458008, 0.4989308714866638 ]
1.84
46
0
46
0
[ -6.461538314819336, -52.79121017456055, 69.80220031738281, 57.93406677246094, 24.923076629638672, 0.1663893461227417 ]
[ -8.747252464294434, -75.9120864868164, 82.76923370361328, 67.20879364013672, 21.05494499206543, 0.4989308714866638 ]
1.88
47
0
47
0
[ -6.373626232147217, -47.16483688354492, 66.54945373535156, 55.64834976196289, 25.186813354492188, 0.1663893461227417 ]
[ -7.868131637573242, -69.75823974609375, 79.16483306884766, 64.30769348144531, 22.461538314819336, 0.4989308714866638 ]
1.92
48
0
48
0
[ -5.934065818786621, -41.89011001586914, 63.736263275146484, 53.978023529052734, 25.36263656616211, 0.1663893461227417 ]
[ -7.252747058868408, -62.81318664550781, 75.73626708984375, 61.230770111083984, 23.516483306884766, 0.4989308714866638 ]
1.96
49
0
49
0
[ -5.670329570770264, -36.61538314819336, 61.18681335449219, 52.74725341796875, 25.450550079345703, 0.1663893461227417 ]
[ -6.989010810852051, -56.30769348144531, 72.21977996826172, 58.593406677246094, 24.131868362426758, 0.4989308714866638 ]
2
50
0
50
0
[ -5.670329570770264, -31.956043243408203, 58.901100158691406, 51.69230651855469, 25.186813354492188, 0.1663893461227417 ]
[ -6.549450397491455, -50.41758346557617, 69.14286041259766, 56.483516693115234, 24.483516693115234, 0.4989308714866638 ]
2.04
51
0
51
0
[ -5.494505405426025, -27.648351669311523, 57.230770111083984, 50.901100158691406, 24.483516693115234, 0.24958401918411255 ]
[ -6.1978020668029785, -44.52747344970703, 66.24176025390625, 54.81318664550781, 24.74725341796875, 0.4989308714866638 ]
2.08
52
0
52
0
[ -4.791208744049072, -23.69230842590332, 55.912086486816406, 50.28571319580078, 24.043956756591797, 0.24958401918411255 ]
[ -5.846153736114502, -38.989009857177734, 63.60439682006836, 53.4945068359375, 24.571428298950195, 0.4989308714866638 ]
2.12
53
0
53
0
[ -4.263736248016357, -19.91208839416504, 54.85714340209961, 49.758243560791016, 23.428571701049805, 0.41597336530685425 ]
[ -5.758241653442383, -34.06593322753906, 61.406593322753906, 52.263736724853516, 24.483516693115234, 0.4989308714866638 ]
2.16
54
0
54
0
[ -3.384615421295166, -16.395605087280273, 54.153846740722656, 49.58241653442383, 22.72527503967285, 1.7470881938934326 ]
[ -5.5824174880981445, -29.318681716918945, 59.56044006347656, 51.47252655029297, 24.571428298950195, 0.4989308714866638 ]
2.2
55
0
55
0
[ -2.5934066772460938, -13.05494499206543, 53.4505500793457, 49.58241653442383, 22.549449920654297, 4.076539039611816 ]
[ -4.879120826721191, -24.83516502380371, 57.978023529052734, 50.68132019042969, 24.043956756591797, 0.4989308714866638 ]
2.24
56
0
56
0
[ -1.802197813987732, -9.89011001586914, 52.57143020629883, 49.58241653442383, 22.989011764526367, 6.655573844909668 ]
[ -4, -20.52747344970703, 56.92307662963867, 50.32966995239258, 23.340660095214844, 1.2116892337799072 ]
2.28
57
0
57
0
[ -0.8351648449897766, -6.725274562835693, 51.60439682006836, 49.58241653442383, 23.604394912719727, 8.818635940551758 ]
[ -3.0329670906066895, -16.21977996826172, 56.30769348144531, 50.153846740722656, 23.340660095214844, 2.494654417037964 ]
2.32
58
0
58
0
[ -0.1318681389093399, -3.7362637519836426, 50.373626708984375, 49.58241653442383, 24.30769157409668, 9.900166511535645 ]
[ -2.5054945945739746, -12.703296661376953, 55.16483688354492, 49.978023529052734, 23.340660095214844, 4.63292932510376 ]
2.36
59
0
59
0
[ 0.5714285969734192, -0.9230769276618958, 49.05494689941406, 49.4945068359375, 25.098901748657227, 10.482528686523438 ]
[ -1.890109896659851, -9.362637519836426, 54.021976470947266, 49.89011001586914, 23.340660095214844, 6.6999287605285645 ]
2.4
60
0
60
0
[ 1.4505494832992554, 1.5384615659713745, 47.82417678833008, 48.70329666137695, 26.241758346557617, 10.399334907531738 ]
[ -1.0109890699386597, -6.285714149475098, 52.96703338623047, 49.89011001586914, 23.78022003173828, 8.125445365905762 ]
2.44
61
0
61
0
[ 2.3296704292297363, 3.6483516693115234, 46.769229888916016, 47.38461685180664, 27.47252655029297, 10.482528686523438 ]
[ 0.04395604506134987, -2.857142925262451, 51.56044006347656, 49.89011001586914, 24.21977996826172, 8.980755805969238 ]
2.48
62
0
62
0
[ 3.1208791732788086, 5.406593322753906, 45.80219650268555, 46.06593322753906, 28.52747344970703, 10.981697082519531 ]
[ 0.6593406796455383, 0.04395604506134987, 50.41758346557617, 49.18681335449219, 25.186813354492188, 9.479686737060547 ]
2.52
63
0
63
0
[ 4, 7.252747058868408, 44.92307662963867, 45.010990142822266, 29.406593322753906, 11.148086547851562 ]
[ 1.274725317955017, 1.9780219793319702, 49.27472686767578, 48.21977996826172, 26.153846740722656, 9.907341003417969 ]
2.56
64
0
64
0
[ 4.791208744049072, 9.186813354492188, 43.868133544921875, 44.39560317993164, 29.758241653442383, 11.148086547851562 ]
[ 2.153846263885498, 3.912087917327881, 48.131866455078125, 46.989009857177734, 27.208791732788086, 10.406271934509277 ]
2.6
65
0
65
0
[ 5.5824174880981445, 11.384614944458008, 42.72527313232422, 44.30769348144531, 30.19780158996582, 11.148086547851562 ]
[ 3.0329670906066895, 6.02197790145874, 47.07692337036133, 46.021976470947266, 28.08791160583496, 10.620100021362305 ]
2.64
66
0
66
0
[ 6.461538314819336, 13.230769157409668, 41.58241653442383, 44.30769348144531, 30.72527503967285, 11.231281280517578 ]
[ 4.087912082672119, 8.131868362426758, 46.021976470947266, 45.406593322753906, 28.703296661376953, 10.762651443481445 ]
2.68
67
0
67
0
[ 7.604395389556885, 14.90109920501709, 40.61538314819336, 44.30769348144531, 31.25274658203125, 11.231281280517578 ]
[ 4.791208744049072, 10.15384578704834, 44.879119873046875, 45.05494689941406, 29.318681716918945, 10.833927154541016 ]
2.72
68
0
68
0
[ 8.923076629638672, 16.395605087280273, 39.736263275146484, 44.30769348144531, 31.868131637573242, 11.231281280517578 ]
[ 5.494505405426025, 12.263736724853516, 43.736263275146484, 44.879119873046875, 29.934066772460938, 10.905202865600586 ]
2.76
69
0
69
0
[ 10.065934181213379, 18.153846740722656, 38.769229888916016, 44.30769348144531, 32.483516693115234, 11.314476013183594 ]
[ 6.461538314819336, 14.021978378295898, 42.769229888916016, 44.70329666137695, 30.461538314819336, 10.905202865600586 ]
2.8
70
0
70
0
[ 11.20879077911377, 20.08791160583496, 37.89011001586914, 44.21977996826172, 32.74725341796875, 11.896838188171387 ]
[ 7.692307472229004, 15.692307472229004, 41.80219650268555, 44.70329666137695, 31.076923370361328, 10.905202865600586 ]
2.84
71
0
71
0
[ 12, 22.10988998413086, 37.010990142822266, 43.516483306884766, 33.18681335449219, 13.394342422485352 ]
[ 8.923076629638672, 17.450550079345703, 40.83516311645508, 44.70329666137695, 31.69230842590332, 10.905202865600586 ]
2.88
72
0
72
0
[ 12.527472496032715, 24.043956756591797, 36.21977996826172, 41.93406677246094, 33.89011001586914, 15.224625587463379 ]
[ 9.978021621704102, 19.208791732788086, 39.868133544921875, 44.61538314819336, 32.0439567565918, 11.475409507751465 ]
2.92
73
0
73
0
[ 12.703296661376953, 25.80219841003418, 35.42856979370117, 40, 34.5054931640625, 17.138103485107422 ]
[ 10.94505500793457, 21.14285659790039, 38.901100158691406, 44, 32.483516693115234, 12.473271369934082 ]
2.96
74
0
74
0
[ 12.703296661376953, 27.384614944458008, 34.901100158691406, 38.32966995239258, 34.68132019042969, 18.718801498413086 ]
[ 11.736263275146484, 23.16483497619629, 38.021976470947266, 42.769229888916016, 33.098899841308594, 13.970064163208008 ]
3
75
0
75
0
[ 12.703296661376953, 28.615385055541992, 34.63736343383789, 36.83516311645508, 35.120880126953125, 19.633943557739258 ]
[ 12.263736724853516, 25.098901748657227, 37.230770111083984, 41.36263656616211, 33.626373291015625, 15.538132667541504 ]
3.04
76
0
76
0
[ 12.79120922088623, 29.58241844177246, 34.373626708984375, 35.9560432434082, 35.64834976196289, 20.13311195373535 ]
[ 12.351648330688477, 26.769229888916016, 36.61538314819336, 39.78022003173828, 33.978023529052734, 17.17747688293457 ]
3.08
77
0
77
0
[ 13.230769157409668, 30.373626708984375, 34.28571319580078, 35.25274658203125, 36.17582321166992, 20.71547508239746 ]
[ 12.263736724853516, 28.08791160583496, 36.17582321166992, 38.373626708984375, 34.41758346557617, 18.246614456176758 ]
3.12
78
0
78
0
[ 13.670330047607422, 31.604394912719727, 33.93406677246094, 34.989009857177734, 36.52747344970703, 21.297836303710938 ]
[ 12.087912559509277, 29.406593322753906, 35.82417678833008, 37.230770111083984, 34.94505310058594, 19.101924896240234 ]
3.16
79
0
79
0
[ 14.197802543640137, 33.098899841308594, 33.31867980957031, 34.989009857177734, 37.05494689941406, 21.963394165039062 ]
[ 12.439560890197754, 30.373626708984375, 35.56044006347656, 36.35165023803711, 35.38461685180664, 19.885957717895508 ]
3.2
80
0
80
0
[ 14.813186645507812, 34.94505310058594, 32.43955993652344, 34.989009857177734, 37.758243560791016, 22.296173095703125 ]
[ 13.142857551574707, 31.516483306884766, 35.120880126953125, 35.912086486816406, 35.912086486816406, 20.527441024780273 ]
3.24
81
0
81
0
[ 15.428571701049805, 36.61538314819336, 31.47252655029297, 34.989009857177734, 38.46154022216797, 22.37936782836914 ]
[ 13.84615421295166, 32.83516311645508, 34.593406677246094, 35.64834976196289, 36.35165023803711, 21.24020004272461 ]
3.28
82
0
82
0
[ 15.95604419708252, 38.021976470947266, 30.681318283081055, 34.989009857177734, 39.25274658203125, 22.37936782836914 ]
[ 14.373626708984375, 34.593406677246094, 33.80219650268555, 35.47252655029297, 36.96703338623047, 21.59657859802246 ]
3.32
83
0
83
0
[ 16.571428298950195, 38.901100158691406, 30.065933227539062, 34.989009857177734, 40.0439567565918, 22.37936782836914 ]
[ 14.637362480163574, 36.17582321166992, 33.010990142822266, 35.38461685180664, 37.58241653442383, 21.810405731201172 ]
3.36
84
0
84
0
[ 17.27472496032715, 39.42856979370117, 29.714284896850586, 34.989009857177734, 40.659339904785156, 22.37936782836914 ]
[ 15.164834976196289, 37.58241653442383, 32.21977996826172, 35.38461685180664, 38.373626708984375, 21.952957153320312 ]
3.4
85
0
85
0
[ 17.9780216217041, 39.868133544921875, 29.450550079345703, 34.989009857177734, 40.92307662963867, 22.37936782836914 ]
[ 15.868131637573242, 38.81318664550781, 31.516483306884766, 35.38461685180664, 39.07692337036133, 21.952957153320312 ]
3.44
86
0
86
0
[ 18.593406677246094, 40.21977996826172, 29.450550079345703, 34.989009857177734, 40.74725341796875, 22.37936782836914 ]
[ 16.659339904785156, 39.516483306884766, 31.076923370361328, 35.38461685180664, 39.78022003173828, 21.952957153320312 ]
3.48
87
0
87
0
[ 19.208791732788086, 40.30769348144531, 29.450550079345703, 34.901100158691406, 40.57143020629883, 22.37936782836914 ]
[ 17.27472496032715, 39.9560432434082, 30.72527503967285, 35.38461685180664, 40.0439567565918, 21.952957153320312 ]
3.52
88
0
88
0
[ 20.08791160583496, 40.74725341796875, 29.450550079345703, 34.901100158691406, 40.57143020629883, 22.37936782836914 ]
[ 17.80219841003418, 40.21977996826172, 30.63736343383789, 35.38461685180664, 40.131866455078125, 21.952957153320312 ]
3.56
89
0
89
0
[ 20.791208267211914, 41.36263656616211, 29.450550079345703, 34.19780349731445, 40.483516693115234, 22.37936782836914 ]
[ 18.505495071411133, 40.483516693115234, 30.549449920654297, 35.38461685180664, 40.131866455078125, 21.952957153320312 ]
3.6
90
0
90
0
[ 21.230770111083984, 41.626373291015625, 29.450550079345703, 32.96703338623047, 40.39560317993164, 22.37936782836914 ]
[ 19.296703338623047, 40.92307662963867, 30.461538314819336, 35.29670333862305, 40.131866455078125, 21.952957153320312 ]
3.64
91
0
91
0
[ 21.58241844177246, 42.5054931640625, 29.450550079345703, 31.736263275146484, 40.21977996826172, 22.37936782836914 ]
[ 20, 41.626373291015625, 30.461538314819336, 34.68132019042969, 40.131866455078125, 21.952957153320312 ]
3.68
92
0
92
0
[ 21.934066772460938, 43.47252655029297, 29.450550079345703, 30.769229888916016, 39.868133544921875, 22.37936782836914 ]
[ 20.615385055541992, 41.978023529052734, 30.549449920654297, 33.71428680419922, 40.131866455078125, 21.952957153320312 ]
3.72
93
0
93
0
[ 21.934066772460938, 44.087913513183594, 29.450550079345703, 29.9780216217041, 39.42856979370117, 22.296173095703125 ]
[ 21.14285659790039, 42.769229888916016, 30.461538314819336, 32.74725341796875, 40.131866455078125, 21.952957153320312 ]
3.76
94
0
94
0
[ 21.934066772460938, 44.52747344970703, 29.450550079345703, 29.538461685180664, 39.16483688354492, 22.296173095703125 ]
[ 21.406593322753906, 43.64834976196289, 30.373626708984375, 31.69230842590332, 40.131866455078125, 21.952957153320312 ]
3.8
95
0
95
0
[ 21.934066772460938, 45.05494689941406, 29.450550079345703, 28.923076629638672, 38.72527313232422, 22.21297836303711 ]
[ 21.406593322753906, 44.43955993652344, 30.461538314819336, 30.989011764526367, 39.868133544921875, 21.952957153320312 ]
3.84
96
0
96
0
[ 21.846153259277344, 45.406593322753906, 29.450550079345703, 28.395605087280273, 38.10988998413086, 22.21297836303711 ]
[ 21.406593322753906, 44.879119873046875, 30.461538314819336, 30.373626708984375, 39.69230651855469, 21.952957153320312 ]
3.88
97
0
97
0
[ 21.758241653442383, 45.846153259277344, 29.450550079345703, 27.868131637573242, 37.758243560791016, 22.129783630371094 ]
[ 21.406593322753906, 45.230770111083984, 30.461538314819336, 29.670330047607422, 39.16483688354492, 21.952957153320312 ]
3.92
98
0
98
0
[ 21.58241844177246, 46.10988998413086, 29.450550079345703, 27.604394912719727, 37.31867980957031, 22.129783630371094 ]
[ 21.406593322753906, 45.58241653442383, 30.461538314819336, 29.05494499206543, 38.72527313232422, 21.952957153320312 ]
3.96
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "fps": 25,
    "features": {
        "action": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
            ]
        },
        "observation.images.view_0": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "is_depth_map": false,
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.fps": 25,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": 12,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {}
            }
        },
        "observation.images.view_1": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "is_depth_map": false,
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.fps": 25,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": 12,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {}
            }
        },
        "observation.images.view_2": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "is_depth_map": false,
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.fps": 25,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": 12,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {}
            }
        },
        "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": [
                1
            ],
            "names": null
        }
    },
    "total_episodes": 9,
    "total_frames": 4491,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "robot_type": "so_follower",
    "splits": {
        "train": "0:9"
    }
}

Citation

BibTeX:

[More Information Needed]
Downloads last month
47
License:
apache-2.0
Number of rows:
4,491
Total file size:
150 MB