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Datasets:
advpatel
/
handshake_data

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
Dataset Viewer
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action
sequence
observation.state
sequence
timestamp
float32
0
14.3
frame_index
int64
0
430
episode_index
int64
0
49
index
int64
0
15.8k
task_index
int64
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0
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[ -9.404296875, 186.15234375, 156.796875, 87.275390625, -77.87109375, 24.65397834777832 ]
2.366667
71
0
71
0
[ -8.96484375, 186.15234375, 155.21484375, 82.880859375, -76.201171875, 23.866552352905273 ]
[ -9.404296875, 186.15234375, 156.796875, 86.8359375, -77.431640625, 24.65397834777832 ]
2.4
72
0
72
0
[ -8.876953125, 185.80078125, 155.21484375, 81.73828125, -76.904296875, 23.866552352905273 ]
[ -9.404296875, 186.15234375, 156.796875, 86.1328125, -76.9921875, 24.65397834777832 ]
2.433333
73
0
73
0
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[ -9.404296875, 186.15234375, 156.796875, 85.166015625, -76.904296875, 24.65397834777832 ]
2.466667
74
0
74
0
[ -8.7890625, 184.74609375, 154.951171875, 79.453125, -77.16796875, 23.866552352905273 ]
[ -9.404296875, 186.15234375, 156.796875, 84.111328125, -76.904296875, 24.65397834777832 ]
2.5
75
0
75
0
[ -8.7890625, 184.21875, 154.6875, 78.75, -77.16796875, 23.866552352905273 ]
[ -9.404296875, 186.064453125, 156.796875, 83.14453125, -76.904296875, 24.65397834777832 ]
2.533333
76
0
76
0
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[ -9.404296875, 185.80078125, 156.796875, 82.08984375, -76.904296875, 24.65397834777832 ]
2.566667
77
0
77
0
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[ -9.404296875, 185.361328125, 156.796875, 81.123046875, -76.904296875, 24.65397834777832 ]
2.6
78
0
78
0
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[ -9.404296875, 185.09765625, 156.796875, 80.595703125, -76.904296875, 24.65397834777832 ]
2.633333
79
0
79
0
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[ -9.404296875, 184.658203125, 156.796875, 80.15625, -76.81640625, 24.65397834777832 ]
2.666667
80
0
80
0
[ -8.4375, 182.28515625, 153.017578125, 77.783203125, -75.5859375, 23.866552352905273 ]
[ -9.404296875, 184.306640625, 156.796875, 79.892578125, -76.81640625, 24.65397834777832 ]
2.7
81
0
81
0
[ -8.349609375, 182.197265625, 152.578125, 77.16796875, -75.146484375, 23.866552352905273 ]
[ -9.404296875, 184.130859375, 156.796875, 79.8046875, -76.640625, 24.65397834777832 ]
2.733333
82
0
82
0
[ -8.349609375, 182.197265625, 152.138671875, 76.81640625, -74.619140625, 23.866552352905273 ]
[ -9.404296875, 184.04296875, 156.796875, 79.62890625, -76.640625, 24.65397834777832 ]
2.766667
83
0
83
0
[ -8.26171875, 182.373046875, 151.611328125, 76.728515625, -74.267578125, 23.866552352905273 ]
[ -9.31640625, 183.603515625, 156.796875, 79.1015625, -76.2890625, 24.65397834777832 ]
2.8
84
0
84
0
[ -8.26171875, 182.373046875, 150.99609375, 76.728515625, -74.091796875, 23.866552352905273 ]
[ -9.052734375, 183.1640625, 156.796875, 78.662109375, -75.9375, 24.65397834777832 ]
2.833333
85
0
85
0
[ -8.26171875, 182.373046875, 150.29296875, 76.728515625, -74.00390625, 23.866552352905273 ]
[ -8.7890625, 183.076171875, 156.708984375, 78.310546875, -75.41015625, 24.65397834777832 ]
2.866667
86
0
86
0
[ -8.173828125, 182.28515625, 149.58984375, 76.728515625, -73.740234375, 23.866552352905273 ]
[ -8.701171875, 182.98828125, 156.26953125, 78.046875, -74.970703125, 24.65397834777832 ]
2.9
87
0
87
0
[ -8.0859375, 182.109375, 148.88671875, 76.728515625, -73.564453125, 23.866552352905273 ]
[ -8.61328125, 182.8125, 155.7421875, 78.046875, -74.70703125, 24.65397834777832 ]
2.933333
88
0
88
0
[ -7.734375, 181.93359375, 148.271484375, 76.728515625, -73.4765625, 23.866552352905273 ]
[ -8.525390625, 182.8125, 155.21484375, 77.87109375, -74.53125, 24.65397834777832 ]
2.966667
89
0
89
0
[ -7.470703125, 181.669921875, 147.568359375, 76.728515625, -73.30078125, 23.866552352905273 ]
[ -8.525390625, 182.8125, 154.51171875, 77.87109375, -74.1796875, 24.65397834777832 ]
3
90
0
90
0
[ -7.119140625, 181.494140625, 146.865234375, 76.728515625, -73.212890625, 23.866552352905273 ]
[ -8.4375, 182.8125, 153.720703125, 77.87109375, -74.00390625, 24.65397834777832 ]
3.033333
91
0
91
0
[ -6.6796875, 181.23046875, 146.25, 76.728515625, -73.30078125, 23.866552352905273 ]
[ -8.173828125, 182.63671875, 152.841796875, 77.87109375, -73.828125, 24.65397834777832 ]
3.066667
92
0
92
0
[ -6.15234375, 180.52734375, 145.37109375, 76.728515625, -73.212890625, 23.866552352905273 ]
[ -7.734375, 182.373046875, 152.138671875, 77.87109375, -73.65234375, 24.65397834777832 ]
3.1
93
0
93
0
[ -5.537109375, 179.912109375, 144.580078125, 76.376953125, -73.125, 23.866552352905273 ]
[ -7.470703125, 182.109375, 151.435546875, 77.87109375, -73.564453125, 24.65397834777832 ]
3.133333
94
0
94
0
[ -4.921875, 179.208984375, 143.7890625, 75.673828125, -73.30078125, 23.866552352905273 ]
[ -7.119140625, 181.93359375, 150.99609375, 77.87109375, -73.564453125, 24.65397834777832 ]
3.166667
95
0
95
0
[ -4.482421875, 178.505859375, 142.91015625, 75.05859375, -73.4765625, 23.866552352905273 ]
[ -7.03125, 181.7578125, 150.64453125, 77.87109375, -73.564453125, 24.65397834777832 ]
3.2
96
0
96
0
[ -4.04296875, 177.451171875, 142.119140625, 73.740234375, -73.564453125, 23.866552352905273 ]
[ -6.50390625, 181.23046875, 150.029296875, 77.51953125, -73.65234375, 24.65397834777832 ]
3.233333
97
0
97
0
[ -3.69140625, 176.1328125, 141.240234375, 72.59765625, -73.828125, 23.866552352905273 ]
[ -5.712890625, 180.263671875, 148.974609375, 76.904296875, -73.564453125, 24.65397834777832 ]
3.266667
98
0
98
0
[ -3.603515625, 174.814453125, 140.2734375, 71.54296875, -74.00390625, 23.866552352905273 ]
[ -5.009765625, 179.384765625, 148.0078125, 76.11328125, -73.564453125, 24.65397834777832 ]
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": "so100",
    "total_episodes": 1,
    "total_frames": 353,
    "total_tasks": 1,
    "total_videos": 1,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:1"
    },
    "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.laptop": {
            "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": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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