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Datasets:
jinukoo
/
pick_and_place_train

Tasks:
Robotics
Modalities:
Image
Time-series
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
pick_and_place
real
ur5
lerobot
split:train
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
Community
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camera_0
imagewidth (px)
320
320
camera_1
imagewidth (px)
320
320
camera_2
imagewidth (px)
320
320
robot_eef_pose
list
gripper_state
float32
0
1
actions
list
timestamp
float32
0
21.6
frame_index
int64
0
216
episode_index
int64
0
58
index
int64
0
9.38k
task_index
int64
0
0
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1
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1.1
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1.4
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3
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3.1
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3.3
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3.8
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3.9
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4
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4.1
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4.2
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4.3
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4.4
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4.5
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1
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4.6
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1
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4.7
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1
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4.8
48
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48
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1
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4.9
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1
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5
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1
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5.1
51
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51
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1
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5.2
52
0
52
0
[ -0.5429843068122864, 0.09327913075685501, 0.21272186934947968, 1.9879306554794312, 2.1783196926116943, 0.08935915678739548 ]
1
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5.3
53
0
53
0
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1
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5.4
54
0
54
0
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1
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5.5
55
0
55
0
[ -0.5427284836769104, 0.09233706444501877, 0.24442057311534882, 1.9882683753967285, 2.181734085083008, 0.09734676033258438 ]
1
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5.6
56
0
56
0
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1
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5.7
57
0
57
0
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1
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5.8
58
0
58
0
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1
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5.9
59
0
59
0
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1
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6
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0
60
0
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1
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6.1
61
0
61
0
[ -0.5399377346038818, 0.08859806507825851, 0.30332303047180176, 1.9860765933990479, 2.1859130859375, 0.1054995134472847 ]
1
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6.2
62
0
62
0
[ -0.5393853783607483, 0.08757530897855759, 0.31004640460014343, 1.9855034351348877, 2.186309576034546, 0.10623656213283539 ]
1
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6.3
63
0
63
0
[ -0.5384398102760315, 0.0868229866027832, 0.31596240401268005, 1.9849448204040527, 2.187167167663574, 0.10672562569379807 ]
1
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6.4
64
0
64
0
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1
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6.5
65
0
65
0
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1
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6.6
66
0
66
0
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1
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6.7
67
0
67
0
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1
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6.8
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0
68
0
[ -0.5363708138465881, 0.07651538401842117, 0.32260793447494507, 1.9744950532913208, 2.183865785598755, 0.1024942547082901 ]
1
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6.9
69
0
69
0
[ -0.5366213917732239, 0.06757606565952301, 0.3217603862285614, 1.9666666984558105, 2.18122935295105, 0.10022006183862686 ]
1
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7
70
0
70
0
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1
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7.1
71
0
71
0
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1
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7.2
72
0
72
0
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1
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7.3
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0
73
0
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1
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7.4
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0
74
0
[ -0.5377936363220215, 0.008153100498020649, 0.31299102306365967, 1.917574405670166, 2.1774795055389404, 0.10332197695970535 ]
1
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7.5
75
0
75
0
[ -0.5380951166152954, -0.005537830293178558, 0.31146240234375, 1.9083467721939087, 2.1779849529266357, 0.10728099197149277 ]
1
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7.6
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0
76
0
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1
[ -0.5385955572128296, -0.033528368920087814, 0.31053146719932556, 1.8960323333740234, 2.179263114929199, 0.1160397008061409, 1 ]
7.7
77
0
77
0
[ -0.5386439561843872, -0.031544484198093414, 0.3106051981449127, 1.8971246480941772, 2.179124116897583, 0.11531301587820053 ]
1
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7.8
78
0
78
0
[ -0.5389019250869751, -0.043631646782159805, 0.3104187846183777, 1.8922055959701538, 2.180833339691162, 0.12031393498182297 ]
1
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7.9
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0
79
0
[ -0.5391619205474854, -0.056732531636953354, 0.3104131519794464, 1.8873814344406128, 2.1826789379119873, 0.12552878260612488 ]
1
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8
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0
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0
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1
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8.1
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0
81
0
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1
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8.2
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0
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0
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1
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8.3
83
0
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0
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1
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8.4
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0
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0
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1
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8.5
85
0
85
0
[ -0.5406510829925537, -0.13135001063346863, 0.3097389042377472, 1.8564975261688232, 2.1928532123565674, 0.15100592374801636 ]
1
[ -0.5408455729484558, -0.14527836441993713, 0.309581458568573, 1.850007176399231, 2.194936990737915, 0.1549055576324463, 1 ]
8.6
86
0
86
0
[ -0.5409054756164551, -0.14285707473754883, 0.3095063269138336, 1.8511896133422852, 2.194448232650757, 0.15426892042160034 ]
1
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8.7
87
0
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0
[ -0.5411460995674133, -0.1551654040813446, 0.30891454219818115, 1.8449517488479614, 2.196467876434326, 0.1581224799156189 ]
1
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8.8
88
0
88
0
[ -0.5414301753044128, -0.1651688814163208, 0.30742377042770386, 1.8394862413406372, 2.1984639167785645, 0.16110271215438843 ]
1
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8.9
89
0
89
0
[ -0.5419250726699829, -0.17276398837566376, 0.30224156379699707, 1.833849549293518, 2.200812816619873, 0.16226617991924286 ]
1
[ -0.5427955389022827, -0.1775783747434616, 0.29323145747184753, 1.8270647525787354, 2.2021520137786865, 0.15916551649570465, 1 ]
9
90
0
90
0
[ -0.54279625415802, -0.1768517643213272, 0.29476645588874817, 1.828263282775879, 2.2021257877349854, 0.15933962166309357 ]
1
[ -0.5441955924034119, -0.180328369140625, 0.2843814492225647, 1.8215844631195068, 2.20306396484375, 0.15401427447795868, 1 ]
9.1
91
0
91
0
[ -0.5441427230834961, -0.17986218631267548, 0.2858082056045532, 1.8225116729736328, 2.2027463912963867, 0.155054971575737 ]
1
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9.2
92
0
92
0
[ -0.5456967353820801, -0.18188655376434326, 0.27855581045150757, 1.8179576396942139, 2.202397346496582, 0.1527235358953476 ]
1
[ -0.5478455424308777, -0.18427836894989014, 0.27073144912719727, 1.8125057220458984, 2.201892137527466, 0.15271006524562836, 1 ]
9.3
93
0
93
0
[ -0.5476403832435608, -0.18405792117118835, 0.27169284224510193, 1.8134965896606445, 2.201895236968994, 0.15288124978542328 ]
1
[ -0.5497955679893494, -0.18662837147712708, 0.2649814486503601, 1.8089301586151123, 2.2012088298797607, 0.15486851334571838, 1 ]
9.4
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0
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[ -0.5495310425758362, -0.1862294226884842, 0.2661021053791046, 1.8099770545959473, 2.2012202739715576, 0.1545713245868683 ]
1
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9.5
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0
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0
[ -0.5515073537826538, -0.18846499919891357, 0.2610492706298828, 1.8064244985580444, 2.2010252475738525, 0.15590327978134155 ]
1
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9.6
96
0
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0
[ -0.5526611804962158, -0.18934616446495056, 0.2572915554046631, 1.8048014640808105, 2.2005844116210938, 0.1556718349456787 ]
1
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9.7
97
0
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0
[ -0.5533245205879211, -0.18961134552955627, 0.25340506434440613, 1.801964521408081, 2.199164628982544, 0.15235431492328644 ]
1
[ -0.5533955693244934, -0.1896783709526062, 0.2491314560174942, 1.796989917755127, 2.1959571838378906, 0.14665037393569946, 1 ]
9.8
98
0
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0
[ -0.5531779527664185, -0.19054225087165833, 0.2502485513687134, 1.797784686088562, 2.197387218475342, 0.14913702011108398 ]
1
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9.9
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": "ur5",
    "total_episodes": 59,
    "total_frames": 9381,
    "total_tasks": 1,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 10,
    "splits": {
        "train": "0:59"
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    "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": {
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        "camera_1": {
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        "camera_2": {
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            "names": [
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        "robot_eef_pose": {
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        "actions": {
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        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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Size of downloaded dataset files:
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Size of the auto-converted Parquet files:
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Number of rows:
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