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Datasets:
ricky0526
/
pick_orange_sm_dataset_v2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
sim
pick_orange
leisaac
state_machine
Libraries:
Datasets
pandas
Polars
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xet
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observation.state
list
timestamp
float32
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77.8
frame_index
int64
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2.33k
episode_index
int64
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29
index
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70k
task_index
int64
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[ 0.07923665642738342, -0.2901614308357239, 0.23706477880477905, -3.8096859000802397e-11, 1.32430122423699e-10, -2.898924433836214e-9, -0.9999997615814209, 1 ]
[ 16.60882568359375, 25.262847900390625, -50.33896255493164, 99.99981689453125, -42.28662872314453, 58.72172546386719 ]
3.266667
98
0
98
0
[ 0.07962313294410706, -0.2900574505329132, 0.23657947778701782, -3.8096859000802397e-11, 1.32430122423699e-10, -2.898924433836214e-9, -0.9999997615814209, 1 ]
[ 16.396644592285156, 25.396881103515625, -50.39928436279297, 99.99981689453125, -42.49445343017578, 58.793495178222656 ]
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": "v3.0",
    "robot_type": "so101_follower",
    "total_episodes": 30,
    "total_frames": 70050,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 30,
    "splits": {
        "train": "0:30"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": [
                "dim_0",
                "dim_1",
                "dim_2",
                "dim_3",
                "dim_4",
                "dim_5",
                "dim_6",
                "dim_7"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ]
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
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                640,
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            ],
            "names": [
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                "width",
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            ],
            "video_info": {
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            },
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
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        },
        "observation.images.front": {
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            ],
            "names": [
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            ],
            "video_info": {
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                "video.width": 640,
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                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "video.channels": 3,
                "has_audio": false
            },
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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        },
        "task_index": {
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            "shape": [
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            "names": null
        }
    }
}

Citation

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