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Datasets:
lucazanett
/
usb_01

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
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pandas
Polars
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[ -0.049551092088222504, -1.5912097692489624, -0.8156372308731079, -0.26803356409072876, 0.28441306948661804, -0.014989069662988186 ]
3.2
96
0
96
0
[ 0.5293688774108887, -0.031540922820568085, 0.15927061438560486, 0.43660780787467957, 0.03867363557219505, 2.3941490650177, 500, 500, 500, 30, 30, 30, 1 ]
[ 0.5289517045021057, -0.02455395832657814, 0.17867815494537354, 0.20429627597332, 0.020785659551620483, 2.3247928619384766, 0.008237885311245918, 0.4000000059604645, 1 ]
[ -0.3079070746898651, -1.4568560123443604, -1.0786443948745728, -0.25003868341445923, 0.3303937315940857, -0.016730520874261856 ]
3.233333
97
0
97
0
[ 0.5293688774108887, -0.031540922820568085, 0.15927061438560486, 0.43845295906066895, 0.037714362144470215, 2.391956329345703, 500, 500, 500, 30, 30, 30, 1 ]
[ 0.5291693210601807, -0.025376515462994576, 0.1773434728384018, 0.21256788074970245, 0.021624315530061722, 2.3304262161254883, 0.008237885311245918, 0.5, 1 ]
[ -0.022476572543382645, -1.559138298034668, -0.5672536492347717, -0.2528478503227234, 0.32026195526123047, -0.009847111999988556 ]
3.266667
98
0
98
0
[ 0.532428503036499, -0.03311724215745926, 0.15876483917236328, 0.43843385577201843, 0.03783438354730606, 2.3922007083892822, 500, 500, 500, 30, 30, 30, 1 ]
[ 0.5294362306594849, -0.02609473280608654, 0.1761835664510727, 0.22082282602787018, 0.022157469764351845, 2.336127996444702, 0.008237885311245918, 0.4000000059604645, 1 ]
[ 0.16765619814395905, -1.6819939613342285, -0.908933162689209, -0.2694910764694214, 0.30268555879592896, -0.02137129008769989 ]
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": "custom_manipulator",
    "total_episodes": 50,
    "total_frames": 23572,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "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",
            "names": [
                "position.x",
                "position.y",
                "position.z",
                "orientation.x",
                "orientation.y",
                "orientation.z",
                "stiffness.tx",
                "stiffness.ty",
                "stiffness.tz",
                "stiffness.rx",
                "stiffness.ry",
                "stiffness.rz",
                "gripper"
            ],
            "shape": [
                13
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "position.x",
                "position.y",
                "position.z",
                "orientation.x",
                "orientation.y",
                "orientation.z",
                "gripper",
                "gripper_force",
                "obj_detected"
            ],
            "shape": [
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            ]
        },
        "observation.images.wrist_rgb": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
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        },
        "observation.images.behind_rgb": {
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            ],
            "names": [
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                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.environment_state": {
            "dtype": "float32",
            "names": [
                "ft_fx",
                "ft_fy",
                "ft_fz",
                "ft_tx",
                "ft_ty",
                "ft_tz"
            ],
            "shape": [
                6
            ]
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        }
    }
}

Citation

BibTeX:

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