Aikwed/groot_pick_orange_full
Robotics • 3B • Updated • 20
Search is not available for this dataset
action list | observation.state list | timestamp float32 0 38.9 | frame_index int64 0 1.17k | episode_index int64 0 299 | index int64 0 350k | task_index int64 0 0 |
|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Description
A public LeRobot v3 dataset for the SO-101 Pick Orange task. The demonstrations were generated in LeIsaac / Isaac Sim and are intended for simulation-to-simulation (sim2sim) training and evaluation. The dataset contains joint-position actions, robot state, wrist RGB video, and front RGB video. It has not been validated for direct sim-to-real deployment.
- Homepage: https://github.com/LightwheelAI/leisaac
- Paper: [More Information Needed]
- License: apache-2.0
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 300,
"total_frames": 350400,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:300"
},
"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": [
6
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
]
},
"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": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"video_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
},
"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
}
},
"observation.images.front": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"video_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
},
"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
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
BibTeX:
@software{Lightwheel_and_LeIsaac_Project_Developers_LeIsaac_2025,
author = {{Lightwheel} and {LeIsaac Project Developers}},
license = {Apache-2.0},
title = {LeIsaac},
url = {https://github.com/LightwheelAI/leisaac},
version = {0.4.0},
year = {2026}
}
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