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Datasets:
kjydb
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lerobot_test_152

Tasks:
Robotics
Modalities:
Tabular
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Size:
10K - 100K
Tags:
LeRobot
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float32
0
20.4
frame_index
int64
0
611
episode_index
int64
0
50
index
int64
0
25.2k
task_index
int64
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3.3
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End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Description

Isaac Sim environment

robot: so101_sim

task: Grab the red cube

video res: 640 x 480

fps: 30

camera location: wrist

input data: tcp pose, gripper status, images

output data: tcp pose, gripper status

gripper mode: angle (0.0: off, 180.0: on)

unit: mm, degrees

1 gripping action for 50 different position.

  • Homepage: [More Information Needed]
  • Paper: [More Information Needed]
  • License: apache-2.0

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "so101_sim",
    "total_episodes": 50,
    "total_frames": 25010,
    "total_tasks": 1,
    "total_videos": 50,
    "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": [
                7
            ],
            "names": [
                "x.pos",
                "y.pos",
                "z.pos",
                "rx.pos",
                "ry.pos",
                "rz.pos",
                "gripper.status"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "x.pos",
                "y.pos",
                "z.pos",
                "rx.pos",
                "ry.pos",
                "rz.pos",
                "gripper.status"
            ]
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "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,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

[More Information Needed]
Downloads last month
325
Size of downloaded dataset files:
1.76 MB
Size of the auto-converted Parquet files:
1.76 MB
Number of rows:
25,188

Models trained or fine-tuned on kjydb/lerobot_test_152