Datasets:
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action list | observation.state list | timestamp float32 0 34.8 | frame_index int64 0 1.04k | episode_index int64 0 100 | index int64 0 62.1k | task_index int64 0 0 |
|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
grab_cup_2cam_v3
Terza iterazione del task grab the white cup.
Dataset di teleoperazione raccolto con un braccio SO-101 (follower) e due camere RGB,
nel formato LeRobot v3.0.
Task
Grab the white cup
Statistiche
| Episodi | 101 |
| Frame totali | 62,074 |
| Durata | ~34.5 min (20.5 s/episodio in media) |
| FPS | 30 |
| Robot | so_follower |
| Task distinti | 1 |
| Codebase LeRobot | v3.0 |
Camere
| Stream | Risoluzione | Codec | FPS |
|---|---|---|---|
observation.images.fixed |
640x480 | av1 | 30 |
observation.images.handeye |
640x480 | av1 | 30 |
fixed e' la camera esterna fissa sulla scena, handeye e' montata sul polso del braccio.
Feature
| Nome | Tipo | Shape |
|---|---|---|
action |
float32 | [6] |
observation.state |
float32 | [6] |
observation.images.fixed |
video | [480, 640, 3] |
observation.images.handeye |
video | [480, 640, 3] |
timestamp |
float32 | [1] |
frame_index |
int64 | [1] |
episode_index |
int64 | [1] |
index |
int64 | [1] |
task_index |
int64 | [1] |
action e observation.state sono le sei posizioni giunto del SO-101:
shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper.
Uso
from lerobot.datasets.lerobot_dataset import LeRobotDataset
dataset = LeRobotDataset("Ibuprofene/grab_cup_2cam_v3")
print(dataset)
sample = dataset[0]
Visualizzazione degli episodi:
lerobot-dataset-viz --repo-id Ibuprofene/grab_cup_2cam_v3 --episode-index 0
Struttura
data/chunk-000/file-000.parquet # stati, azioni, indici
videos/observation.images.fixed/...mp4 # camera fissa
videos/observation.images.handeye/...mp4 # camera al polso
meta/info.json | stats.json | tasks.parquet | episodes/
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