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Datasets:
Jamesbass
/
koch_cap_screw

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
koch
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
1
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action
sequence
observation.state
sequence
timestamp
float32
0
29.8
frame_index
int64
0
298
episode_index
int64
0
49
index
int64
0
7.1k
task_index
int64
0
0
[ -1.669921875, 32.87109375, 11.953125, 100.546875, -116.982421875, 34.98046875 ]
[ -0.3515625, 26.19140625, -0.615234375, 103.7109375, -116.806640625, 35.15625 ]
0
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0.1
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0
1
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0.2
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0
2
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0.3
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0
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0.4
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0.5
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0.6
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0
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0.7
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0.8
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1
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1.1
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0
11
0
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1.2
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1.3
13
0
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1.4
14
0
14
0
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1.5
15
0
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1.6
16
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1.7
17
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1.8
18
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1.9
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0
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2.1
21
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21
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2.2
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25
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2.8
28
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2.9
29
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3
30
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3.1
31
0
31
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3.2
32
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32
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3.3
33
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33
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3.4
34
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34
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3.5
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3.6
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3.7
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3.8
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39
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4
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4.1
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4.2
42
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4.3
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4.4
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4.5
45
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45
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4.6
46
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46
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4.7
47
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47
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4.8
48
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48
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4.9
49
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5
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5.1
51
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5.2
52
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5.3
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5.4
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5.5
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5.6
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5.7
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5.8
58
0
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5.9
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6
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6.1
61
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61
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6.2
62
0
62
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6.3
63
0
63
0
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6.4
64
0
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6.5
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0
65
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6.6
66
0
66
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6.7
67
0
67
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6.8
68
0
68
0
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6.9
69
0
69
0
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7
70
0
70
0
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7.1
71
0
71
0
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7.2
72
0
72
0
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7.3
73
0
73
0
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7.4
74
0
74
0
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7.5
75
0
75
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7.6
76
0
76
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7.7
77
0
77
0
[ -32.51953125, 58.271484375, 42.099609375, 97.646484375, -83.759765625, 6.240234375 ]
[ -31.640625, 57.919921875, 45, 94.482421875, -84.0234375, 26.19140625 ]
7.8
78
0
78
0
[ -32.607421875, 57.48046875, 42.099609375, 97.646484375, -83.935546875, 6.240234375 ]
[ -31.728515625, 57.12890625, 44.912109375, 94.482421875, -83.935546875, 26.19140625 ]
7.9
79
0
79
0
[ -32.958984375, 56.689453125, 42.099609375, 97.55859375, -83.935546875, 6.240234375 ]
[ -31.728515625, 56.25, 45, 94.482421875, -83.935546875, 26.19140625 ]
8
80
0
80
0
[ -33.046875, 56.162109375, 42.099609375, 97.55859375, -83.935546875, 6.240234375 ]
[ -32.080078125, 55.634765625, 44.912109375, 94.482421875, -83.935546875, 26.19140625 ]
8.1
81
0
81
0
[ -33.046875, 55.72265625, 42.099609375, 97.55859375, -83.935546875, 6.240234375 ]
[ -32.34375, 55.01953125, 45, 94.482421875, -83.935546875, 26.19140625 ]
8.2
82
0
82
0
[ -32.958984375, 55.283203125, 42.099609375, 97.55859375, -83.935546875, 6.240234375 ]
[ -32.431640625, 54.580078125, 45, 94.482421875, -83.935546875, 26.19140625 ]
8.3
83
0
83
0
[ -32.958984375, 55.01953125, 42.099609375, 97.55859375, -83.935546875, 6.328125 ]
[ -32.431640625, 53.96484375, 44.912109375, 94.482421875, -83.84765625, 26.19140625 ]
8.4
84
0
84
0
[ -33.046875, 54.228515625, 42.099609375, 97.55859375, -84.0234375, 6.328125 ]
[ -32.431640625, 53.876953125, 44.912109375, 94.39453125, -83.935546875, 26.19140625 ]
8.5
85
0
85
0
[ -32.87109375, 53.61328125, 42.099609375, 97.55859375, -84.55078125, 6.328125 ]
[ -32.431640625, 53.0859375, 44.82421875, 94.482421875, -84.0234375, 26.19140625 ]
8.6
86
0
86
0
[ -32.87109375, 53.26171875, 42.099609375, 97.55859375, -84.638671875, 6.416015625 ]
[ -32.431640625, 52.646484375, 44.736328125, 94.482421875, -84.287109375, 26.19140625 ]
8.7
87
0
87
0
[ -32.87109375, 53.26171875, 42.099609375, 97.55859375, -84.638671875, 6.85546875 ]
[ -32.431640625, 52.55859375, 44.736328125, 94.482421875, -84.55078125, 26.19140625 ]
8.8
88
0
88
0
[ -32.87109375, 53.26171875, 42.01171875, 97.55859375, -84.638671875, 18.017578125 ]
[ -32.431640625, 52.470703125, 44.6484375, 94.482421875, -84.55078125, 26.19140625 ]
8.9
89
0
89
0
[ -32.87109375, 53.173828125, 41.748046875, 97.3828125, -84.55078125, 30.849609375 ]
[ -32.431640625, 52.470703125, 44.6484375, 94.482421875, -84.55078125, 26.19140625 ]
9
90
0
90
0
[ -32.87109375, 53.173828125, 41.484375, 96.943359375, -84.55078125, 35.419921875 ]
[ -32.431640625, 52.119140625, 44.82421875, 94.482421875, -84.55078125, 29.619140625 ]
9.1
91
0
91
0
[ -32.607421875, 53.349609375, 41.220703125, 96.85546875, -84.55078125, 35.947265625 ]
[ -32.431640625, 52.119140625, 44.736328125, 94.482421875, -84.462890625, 33.837890625 ]
9.2
92
0
92
0
[ -32.607421875, 54.4921875, 41.220703125, 96.85546875, -84.55078125, 35.771484375 ]
[ -32.431640625, 52.119140625, 44.82421875, 94.482421875, -84.462890625, 34.8046875 ]
9.3
93
0
93
0
[ -32.51953125, 55.634765625, 41.396484375, 96.85546875, -84.462890625, 35.771484375 ]
[ -32.431640625, 52.20703125, 44.82421875, 94.39453125, -84.462890625, 34.8046875 ]
9.4
94
0
94
0
[ -32.255859375, 57.041015625, 41.748046875, 96.943359375, -84.111328125, 35.771484375 ]
[ -32.431640625, 52.470703125, 44.82421875, 94.482421875, -84.462890625, 34.8046875 ]
9.5
95
0
95
0
[ -32.16796875, 59.23828125, 43.681640625, 96.943359375, -84.111328125, 35.771484375 ]
[ -32.255859375, 53.173828125, 44.82421875, 94.482421875, -84.375, 34.8046875 ]
9.6
96
0
96
0
[ -31.904296875, 61.787109375, 46.23046875, 96.943359375, -84.19921875, 35.771484375 ]
[ -32.255859375, 55.01953125, 44.82421875, 94.482421875, -84.19921875, 34.8046875 ]
9.7
97
0
97
0
[ -31.376953125, 63.6328125, 47.28515625, 96.85546875, -84.19921875, 35.771484375 ]
[ -31.9921875, 58.095703125, 48.251953125, 94.482421875, -84.19921875, 34.8046875 ]
9.8
98
0
98
0
[ -30.76171875, 65.126953125, 47.28515625, 96.85546875, -84.19921875, 35.771484375 ]
[ -31.640625, 59.677734375, 48.1640625, 94.482421875, -84.19921875, 34.8046875 ]
9.9
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": "koch",
    "total_episodes": 50,
    "total_frames": 7101,
    "total_tasks": 1,
    "total_videos": 100,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 10,
    "splits": {
        "train": "0:50"
    },
    "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": {
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            "shape": [
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            "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.follower_cam": {
            "dtype": "video",
            "shape": [
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                640,
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            ],
            "names": [
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        "observation.images.web_cam": {
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            "names": [
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                "channels"
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            "info": {
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                "video.height": 480,
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                "video.channels": 3,
                "video.codec": "av1",
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                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
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            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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                1
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            "names": null
        },
        "episode_index": {
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            ],
            "names": null
        },
        "index": {
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                1
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        },
        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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