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Datasets:
bryce-gl
/
pickplace-base-v0

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
sim
grabette
grasp
Libraries:
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pandas
Polars
License:
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timestamp
float32
0
9.97
frame_index
int64
0
299
episode_index
int64
0
199
index
int64
0
60k
task_index
int64
0
0
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[ 0.37824583053588867, -0.13789837062358856, 0.4656037390232086, -1.7491300106048584, 1.0208134651184082, -0.6741805076599121, -5.352140731068643e-16, 1.3030755317771315e-21 ]
2.4
72
0
72
0
[ 0.3802841305732727, -0.13682222366333008, 0.46264809370040894, -1.7491300106048584, 1.0208134651184082, -0.6741805076599121, -5.41776460865717e-16, 1.1199333820726297e-21 ]
2.433333
73
0
73
0
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2.466667
74
0
74
0
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2.5
75
0
75
0
[ 0.3851422071456909, -0.13425733149051666, 0.45560359954833984, -1.7491300106048584, 1.0208134651184082, -0.6741805076599121, -0.000017914782802108675, 0.00012788630556315184 ]
2.533333
76
0
76
0
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2.566667
77
0
77
0
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2.6
78
0
78
0
[ 0.38760751485824585, -0.13295574486255646, 0.4520287811756134, -1.7491300106048584, 1.0208134651184082, -0.6741805076599121, -0.000989944557659328, 0.0021080311853438616 ]
2.633333
79
0
79
0
[ 0.3877847492694855, -0.1328621655702591, 0.4517717659473419, -1.7491300106048584, 1.0208134651184082, -0.6741805076599121, -0.0012158870231360197, 0.0025278611574321985 ]
2.666667
80
0
80
0
[ 0.3877847492694855, -0.1328621655702591, 0.4517717659473419, -1.7491300106048584, 1.0208134651184082, -0.6741805076599121, -0.0013345492770895362, 0.0027491964865475893 ]
2.7
81
0
81
0
[ 0.3877847492694855, -0.1328621655702591, 0.4517717659473419, -1.7491300106048584, 1.0208134651184082, -0.6741805076599121, -0.001387544209137559, 0.002847554860636592 ]
2.733333
82
0
82
0
[ 0.3877847492694855, -0.1328621655702591, 0.4517717659473419, -1.7491300106048584, 1.0208134651184082, -0.6741805076599121, -0.00140947918407619, 0.0028880576137453318 ]
2.766667
83
0
83
0
[ 0.3877847492694855, -0.1328621655702591, 0.4517717659473419, -1.7491300106048584, 1.0208134651184082, -0.6741805076599121, -0.0014178885612636805, 0.0029039233922958374 ]
2.8
84
0
84
0
[ 0.3877847492694855, -0.1328621655702591, 0.4517717659473419, -1.7491300106048584, 1.0208134651184082, -0.6741805076599121, -0.0014209103537723422, 0.0029099409002810717 ]
2.833333
85
0
85
0
[ 0.3877847492694855, -0.1328621655702591, 0.4517717659473419, -1.7491300106048584, 1.0208134651184082, -0.6741805076599121, -0.0014219331787899137, 0.002912175143137574 ]
2.866667
86
0
86
0
[ 0.3877847492694855, -0.1328621655702591, 0.4517717659473419, -1.7491300106048584, 1.0208134651184082, -0.6741805076599121, -0.0014222580939531326, 0.002912993310019374 ]
2.9
87
0
87
0
[ 0.3877847492694855, -0.1328621655702591, 0.4517717659473419, -1.7491300106048584, 1.0208134651184082, -0.6741805076599121, -0.0014223539037629962, 0.0029132901690900326 ]
2.933333
88
0
88
0
[ 0.3877847492694855, -0.1328621655702591, 0.4517717659473419, -1.7491300106048584, 1.0208134651184082, -0.6741805076599121, -0.0014223792823031545, 0.0029133972711861134 ]
2.966667
89
0
89
0
[ 0.3877847492694855, -0.1328621655702591, 0.4517717659473419, -1.7491300106048584, 1.0208134651184082, -0.6741805076599121, -0.0014223848702386022, 0.0029134361539036036 ]
3
90
0
90
0
[ 0.3877847492694855, -0.1328621655702591, 0.4517717659473419, -1.7491300106048584, 1.0208134651184082, -0.6741805076599121, -0.0014223855687305331, 0.002913450123742223 ]
3.033333
91
0
91
0
[ 0.3877847492694855, -0.1328621655702591, 0.4517717659473419, -1.7491300106048584, 1.0208134651184082, -0.6741805076599121, -0.001422385685145855, 0.002913455246016383 ]
3.066667
92
0
92
0
[ 0.3877847492694855, -0.1328621655702591, 0.4517717659473419, -1.7491300106048584, 1.0208134651184082, -0.6741805076599121, -0.001422385685145855, 0.0029134571086615324 ]
3.1
93
0
93
0
[ 0.3877847492694855, -0.1328621655702591, 0.4517717659473419, -1.7491300106048584, 1.0208134651184082, -0.6741805076599121, -0.0014223858015611768, 0.0029134578071534634 ]
3.133333
94
0
94
0
[ 0.3877847492694855, -0.1328621655702591, 0.4517717659473419, -1.7491300106048584, 1.0208134651184082, -0.6741805076599121, -0.0014223858015611768, 0.002913458039984107 ]
3.166667
95
0
95
0
[ 0.3877847492694855, -0.1328621655702591, 0.4517717659473419, -1.7491300106048584, 1.0208134651184082, -0.6741805076599121, -0.009154845960438251, 0.02024318277835846 ]
3.2
96
0
96
0
[ 0.3877847492694855, -0.1328621655702591, 0.4517717659473419, -1.7491300106048584, 1.0208134651184082, -0.6741805076599121, -0.02490057423710823, 0.05573505535721779 ]
3.233333
97
0
97
0
[ 0.3877847492694855, -0.1328621655702591, 0.4517717659473419, -1.7491300106048584, 1.0208134651184082, -0.6741805076599121, -0.04485470801591873, 0.10092896223068237 ]
3.266667
98
0
98
0
[ 0.3877847492694855, -0.1328621655702591, 0.4517717659473419, -1.7491300106048584, 1.0208134651184082, -0.6741805076599121, -0.06662511825561523, 0.15043877065181732 ]
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",
    "fps": 30,
    "features": {
        "observation.images.cam0": {
            "dtype": "video",
            "shape": [
                3,
                720,
                960
            ],
            "names": [
                "channels",
                "height",
                "width"
            ],
            "info": {
                "video.height": 720,
                "video.width": 960,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": null,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {},
                "is_depth_map": false
            }
        },
        "action": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": [
                "x",
                "y",
                "z",
                "ax",
                "ay",
                "az",
                "proximal",
                "distal"
            ]
        },
        "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
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    },
    "total_episodes": 200,
    "total_frames": 60000,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "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",
    "robot_type": "openarm_gripette_sim",
    "splits": {
        "train": "0:200"
    }
}

Citation

BibTeX:

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