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Datasets:
dogeum
/
doosan_gripper_data

Tasks:
Robotics
Modalities:
Image
Time-series
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
xet
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1
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observation.images.left
imagewidth (px)
128
128
observation.images.right
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128
128
observation.state
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action
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timestamp
float32
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59
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int64
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1.18k
episode_index
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4
index
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4.47k
task_index
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3.7
74
0
74
0
[ 1.5711959600448608, 0.12736055254936218, -0.0003126520023215562, 1.5785443782806396, 1.437198281288147, -0.00006200511415954679, 0 ]
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3.75
75
0
75
0
[ 1.5712131261825562, 0.13131853938102722, -0.0003126520023215562, 1.5791592597961426, 1.4327049255371094, -0.0000620051214355044, 0 ]
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3.8
76
0
76
0
[ 1.5711941719055176, 0.13552972674369812, -0.0003126520023215562, 1.5797638893127441, 1.428002953529358, -0.00006717221549479291, 0 ]
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3.85
77
0
77
0
[ 1.571189045906067, 0.13895723223686218, -0.0003126520023215562, 1.5802727937698364, 1.4241834878921509, -0.00006975576252443716, 0 ]
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3.9
78
0
78
0
[ 1.571186900138855, 0.14439520239830017, -0.0003126546507701278, 1.5811433792114258, 1.4177390336990356, -0.00007492287113564089, 0 ]
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3.95
79
0
79
0
[ 1.57118558883667, 0.1486007571220398, -0.0003126520023215562, 1.5818254947662354, 1.412919044494629, -0.0000775063963374123, 0 ]
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4
80
0
80
0
[ 1.5711803436279297, 0.15250879526138306, -0.0003126520023215562, 1.5824377536773682, 1.4082770347595215, -0.00008008994336705655, 0 ]
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4.05
81
0
81
0
[ 1.5711843967437744, 0.1570209413766861, -0.00031264888821169734, 1.583251714706421, 1.4029673337936401, -0.00008267347584478557, 0 ]
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4.1
82
0
82
0
[ 1.5711770057678223, 0.1611705869436264, -0.00031006845529191196, 1.5839802026748657, 1.3983293771743774, -0.00008525703742634505, 0 ]
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4.15
83
0
83
0
[ 1.5711718797683716, 0.16557984054088593, -0.0003126520023215562, 1.5847500562667847, 1.3931849002838135, -0.00009042413148563355, 0 ]
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4.2
84
0
84
0
[ 1.5711718797683716, 0.16985303163528442, -0.0003126520023215562, 1.5855767726898193, 1.3881232738494873, -0.00009042413148563355, 1 ]
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4.25
85
0
85
0
[ 1.5711735486984253, 0.1740848869085312, -0.00031006845529191196, 1.5863853693008423, 1.3830244541168213, -0.00009300767123932019, 0 ]
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4.3
86
0
86
0
[ 1.5711700916290283, 0.17803426086902618, -0.00031006845529191196, 1.587132215499878, 1.3784608840942383, -0.00009559121826896444, 0 ]
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4.35
87
0
87
0
[ 1.5711700916290283, 0.17803426086902618, -0.00031006845529191196, 1.587132215499878, 1.3784608840942383, -0.00009559121826896444, 1 ]
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4.4
88
0
88
0
[ 1.5711649656295776, 0.18714213371276855, -0.00031006845529191196, 1.5890026092529297, 1.3667893409729004, -0.0000981747725745663, 1 ]
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4.45
89
0
89
0
[ 1.5711562633514404, 0.19054724276065826, -0.00031006845529191196, 1.5897259712219238, 1.3628355264663696, -0.00010075831960421056, 0 ]
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4.5
90
0
90
0
[ 1.5711562633514404, 0.1957453489303589, -0.0003126520023215562, 1.5908137559890747, 1.3567776679992676, -0.0001033418666338548, 0 ]
[ 0, 0.9908088445663452, 0, 0, 0, 0, 0 ]
4.55
91
0
91
0
[ 1.5711544752120972, 0.20004437863826752, -0.0003126520023215562, 1.591733455657959, 1.3516331911087036, -0.00010592541366349906, 0 ]
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4.6
92
0
92
0
[ 1.5711544752120972, 0.2043037861585617, -0.00031006845529191196, 1.5927306413650513, 1.3464041948318481, -0.00010850896069314331, 1 ]
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4.65
93
0
93
0
[ 1.5711511373519897, 0.20855802297592163, -0.00031006845529191196, 1.5937045812606812, 1.3410696983337402, -0.00011109250044682994, 0 ]
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4.7
94
0
94
0
[ 1.5711511373519897, 0.21295695006847382, -0.0003126520023215562, 1.5947458744049072, 1.335799217224121, -0.00011109250044682994, 0 ]
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4.75
95
0
95
0
[ 1.5711442232131958, 0.2172490805387497, -0.0003126520023215562, 1.5957224369049072, 1.3305721282958984, -0.0001136760474764742, 0 ]
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4.8
96
0
96
0
[ 1.5711649656295776, 0.22048711776733398, -0.00031006845529191196, 1.59652841091156, 1.3266308307647705, -0.0001136760474764742, 0 ]
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4.85
97
0
97
0
[ 1.5711442232131958, 0.22572828829288483, -0.00031006845529191196, 1.5978072881698608, 1.320045828819275, -0.00011625959450611845, 1 ]
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4.9
98
0
98
0
[ 1.571142554283142, 0.2302064448595047, -0.0003126520023215562, 1.598982810974121, 1.3146016597747803, -0.00011625959450611845, 0 ]
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4.95
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",
    "robot_type": null,
    "total_episodes": 5,
    "total_frames": 4466,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:5"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": null,
    "features": {
        "observation.images.left": {
            "dtype": "image",
            "shape": [
                128,
                128,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "observation.images.right": {
            "dtype": "image",
            "shape": [
                128,
                128,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "joint_0",
                "joint_1",
                "joint_2",
                "joint_3",
                "joint_4",
                "joint_5",
                "gripper"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "jog_x",
                "jog_y",
                "jog_z",
                "jog_rx",
                "jog_ry",
                "jog_rz",
                "gripper"
            ]
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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