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Datasets:
Ibuprofene
/
grab_marker_2cam

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so101
so100
robotics
imitation-learning
Libraries:
Datasets
pandas
Polars
License:
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xet
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float32
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53
frame_index
int64
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1.59k
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int64
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int64
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49.7k
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3.3
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End of preview. Expand in Data Studio

grab_marker_2cam

Task grab the marker, stessa configurazione hardware dei dataset grab_cup_2cam*.

Dataset di teleoperazione raccolto con un braccio SO-101 (follower) e due camere RGB, nel formato LeRobot v3.0.

Task

Grab the marker

Statistiche

Episodi 100
Frame totali 49,709
Durata ~27.6 min (16.6 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_marker_2cam")
print(dataset)
sample = dataset[0]

Visualizzazione degli episodi:

lerobot-dataset-viz --repo-id Ibuprofene/grab_marker_2cam --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/
Downloads last month
54
Number of rows:
49,709
Total file size:
664 MB