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Datasets:
seeingrain
/
pick_place_pink_lego

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
tutorial
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License:
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action
sequence
observation.state
sequence
timestamp
float32
0
17.7
frame_index
int64
0
530
episode_index
int64
0
49
index
int64
0
19.4k
task_index
int64
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[ -16.962890625, 84.55078125, 90.087890625, 68.994140625, 20.126953125, 51.50390625 ]
2.566667
77
0
77
0
[ -18.6328125, 84.462890625, 86.044921875, 71.630859375, 21.884765625, 53.26171875 ]
[ -17.314453125, 84.55078125, 89.912109375, 69.345703125, 20.390625, 51.50390625 ]
2.6
78
0
78
0
[ -19.248046875, 83.583984375, 85.693359375, 71.806640625, 21.884765625, 53.26171875 ]
[ -17.578125, 83.935546875, 89.208984375, 70.048828125, 20.56640625, 51.591796875 ]
2.633333
79
0
79
0
[ -19.86328125, 81.826171875, 84.90234375, 72.333984375, 21.884765625, 53.173828125 ]
[ -18.28125, 82.880859375, 88.41796875, 70.6640625, 20.56640625, 51.50390625 ]
2.666667
80
0
80
0
[ -20.21484375, 80.068359375, 83.759765625, 73.037109375, 21.884765625, 53.173828125 ]
[ -18.6328125, 81.38671875, 87.36328125, 70.751953125, 20.56640625, 51.50390625 ]
2.7
81
0
81
0
[ -20.654296875, 79.189453125, 82.96875, 73.4765625, 22.060546875, 53.173828125 ]
[ -19.16015625, 79.892578125, 86.044921875, 71.19140625, 20.56640625, 51.50390625 ]
2.733333
82
0
82
0
[ -20.654296875, 78.75, 82.44140625, 73.65234375, 22.236328125, 53.173828125 ]
[ -19.423828125, 78.92578125, 85.25390625, 71.630859375, 20.654296875, 51.50390625 ]
2.766667
83
0
83
0
[ -20.7421875, 78.134765625, 82.001953125, 73.65234375, 22.236328125, 53.173828125 ]
[ -19.6875, 78.046875, 84.814453125, 71.71875, 21.005859375, 51.50390625 ]
2.8
84
0
84
0
[ -20.654296875, 76.904296875, 81.123046875, 73.65234375, 22.236328125, 53.0859375 ]
[ -19.775390625, 77.51953125, 84.7265625, 71.806640625, 21.357421875, 51.50390625 ]
2.833333
85
0
85
0
[ -20.390625, 75.05859375, 80.419921875, 73.388671875, 22.236328125, 53.173828125 ]
[ -19.775390625, 76.46484375, 84.55078125, 71.89453125, 21.62109375, 51.591796875 ]
2.866667
86
0
86
0
[ -20.56640625, 73.388671875, 80.595703125, 72.7734375, 22.236328125, 53.173828125 ]
[ -19.951171875, 74.970703125, 83.49609375, 72.421875, 21.708984375, 51.591796875 ]
2.9
87
0
87
0
[ -21.357421875, 72.158203125, 80.419921875, 72.7734375, 22.236328125, 53.0859375 ]
[ -20.0390625, 73.388671875, 82.96875, 72.158203125, 21.708984375, 51.591796875 ]
2.933333
88
0
88
0
[ -21.62109375, 71.455078125, 80.244140625, 72.685546875, 22.236328125, 53.173828125 ]
[ -20.21484375, 72.24609375, 82.96875, 72.158203125, 21.708984375, 51.591796875 ]
2.966667
89
0
89
0
[ -21.62109375, 71.279296875, 79.98046875, 72.333984375, 22.236328125, 53.173828125 ]
[ -20.390625, 71.103515625, 83.056640625, 72.158203125, 21.708984375, 51.591796875 ]
3
90
0
90
0
[ -21.4453125, 71.279296875, 79.716796875, 72.421875, 22.236328125, 53.173828125 ]
[ -20.56640625, 70.400390625, 83.14453125, 72.24609375, 21.708984375, 51.591796875 ]
3.033333
91
0
91
0
[ -21.09375, 71.19140625, 79.27734375, 72.421875, 22.32421875, 53.0859375 ]
[ -20.7421875, 70.400390625, 82.96875, 72.158203125, 21.708984375, 51.591796875 ]
3.066667
92
0
92
0
[ -20.91796875, 70.83984375, 78.486328125, 72.421875, 22.412109375, 53.0859375 ]
[ -20.830078125, 70.3125, 82.177734375, 72.158203125, 21.708984375, 51.591796875 ]
3.1
93
0
93
0
[ -20.654296875, 69.2578125, 77.607421875, 72.421875, 22.32421875, 53.0859375 ]
[ -20.7421875, 69.873046875, 81.123046875, 72.24609375, 21.708984375, 51.591796875 ]
3.133333
94
0
94
0
[ -20.390625, 67.412109375, 76.2890625, 72.685546875, 22.32421875, 53.0859375 ]
[ -20.478515625, 69.08203125, 79.8046875, 72.158203125, 21.708984375, 51.591796875 ]
3.166667
95
0
95
0
[ -20.0390625, 66.4453125, 74.8828125, 73.30078125, 22.412109375, 53.173828125 ]
[ -20.302734375, 67.32421875, 78.3984375, 72.158203125, 21.708984375, 51.591796875 ]
3.2
96
0
96
0
[ -19.6875, 66.4453125, 73.4765625, 73.65234375, 23.291015625, 53.0859375 ]
[ -20.126953125, 65.654296875, 77.16796875, 72.24609375, 21.796875, 51.591796875 ]
3.233333
97
0
97
0
[ -19.51171875, 66.26953125, 72.59765625, 74.00390625, 23.73046875, 53.0859375 ]
[ -19.86328125, 65.302734375, 76.640625, 72.24609375, 21.884765625, 51.591796875 ]
3.266667
98
0
98
0
[ -19.599609375, 65.478515625, 72.0703125, 74.091796875, 23.73046875, 53.0859375 ]
[ -19.51171875, 65.21484375, 75.498046875, 72.333984375, 22.236328125, 51.591796875 ]
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": "v2.0",
    "robot_type": "koch",
    "total_episodes": 50,
    "total_frames": 19352,
    "total_tasks": 1,
    "total_videos": 100,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "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": {
            "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"
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            "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
            }
        },
        "observation.images.phone": {
            "dtype": "video",
            "shape": [
                480,
                640,
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            ],
            "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",
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            "names": null
        }
    }
}

Citation

BibTeX:

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Downloads last month
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License:
apache-2.0
Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
1.11 MB
Number of rows:
19,352