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Datasets:
lirislab
/
green_lego_block_into_mug_easy

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
block
pick
place
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
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action
sequence
observation.state
sequence
timestamp
float32
0
14.4
frame_index
int64
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433
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int64
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24
index
int64
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9.48k
task_index
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[ 27.0703125, 114.169921875, 88.330078125, 93.33984375, -25.13671875, 0 ]
[ 24.609375, 114.2578125, 92.548828125, 91.494140625, -20.91796875, 0.8614501357078552 ]
2.6
78
0
78
0
[ 27.861328125, 113.818359375, 88.330078125, 93.603515625, -26.279296875, 0 ]
[ 25.576171875, 113.291015625, 92.548828125, 91.494140625, -22.236328125, 0.8614501357078552 ]
2.633333
79
0
79
0
[ 28.4765625, 113.466796875, 88.41796875, 93.779296875, -27.333984375, 0 ]
[ 26.455078125, 112.67578125, 92.548828125, 91.845703125, -23.818359375, 0.8614501357078552 ]
2.666667
80
0
80
0
[ 29.1796875, 113.203125, 88.59375, 93.955078125, -28.037109375, 0 ]
[ 27.158203125, 112.1484375, 92.548828125, 92.8125, -25.3125, 0.8614501357078552 ]
2.7
81
0
81
0
[ 29.794921875, 113.02734375, 88.857421875, 94.306640625, -28.916015625, 0 ]
[ 27.59765625, 111.97265625, 92.548828125, 92.900390625, -26.279296875, 0.8614501357078552 ]
2.733333
82
0
82
0
[ 30.498046875, 112.939453125, 89.12109375, 94.833984375, -29.619140625, 0.8450704216957092 ]
[ 28.212890625, 111.97265625, 92.548828125, 92.98828125, -27.0703125, 0.8614501357078552 ]
2.766667
83
0
83
0
[ 31.2890625, 112.8515625, 89.208984375, 95.80078125, -30.673828125, 3.192488193511963 ]
[ 28.740234375, 112.060546875, 92.548828125, 93.076171875, -27.333984375, 0.8614501357078552 ]
2.8
84
0
84
0
[ 31.904296875, 112.763671875, 89.296875, 97.03125, -32.255859375, 6.572770118713379 ]
[ 29.619140625, 111.708984375, 92.548828125, 93.1640625, -28.30078125, 0.8614501357078552 ]
2.833333
85
0
85
0
[ 32.51953125, 112.763671875, 89.6484375, 97.822265625, -33.92578125, 10.328638076782227 ]
[ 30.41015625, 111.09375, 92.4609375, 94.21875, -29.1796875, 1.2203876972198486 ]
2.866667
86
0
86
0
[ 33.046875, 112.67578125, 90.087890625, 98.525390625, -35.595703125, 14.647887229919434 ]
[ 31.11328125, 110.830078125, 92.548828125, 95.625, -30.849609375, 3.661162853240967 ]
2.9
87
0
87
0
[ 33.486328125, 112.587890625, 90.52734375, 99.404296875, -37.44140625, 19.154930114746094 ]
[ 31.640625, 110.830078125, 92.548828125, 96.15234375, -32.16796875, 7.322325706481934 ]
2.933333
88
0
88
0
[ 33.75, 112.587890625, 90.966796875, 99.404296875, -38.056640625, 20.845069885253906 ]
[ 32.34375, 110.830078125, 92.548828125, 97.03125, -33.92578125, 11.198851585388184 ]
2.966667
89
0
89
0
[ 34.013671875, 112.236328125, 91.23046875, 99.404296875, -38.759765625, 21.877933502197266 ]
[ 32.51953125, 110.830078125, 92.548828125, 97.734375, -35.859375, 15.290739059448242 ]
3
90
0
90
0
[ 34.365234375, 111.884765625, 91.58203125, 99.404296875, -39.375, 25.35211181640625 ]
[ 32.783203125, 110.830078125, 92.548828125, 97.734375, -37.001953125, 18.449390411376953 ]
3.033333
91
0
91
0
[ 34.8046875, 111.357421875, 91.845703125, 99.404296875, -39.638671875, 29.953052520751953 ]
[ 33.046875, 110.830078125, 92.548828125, 97.734375, -37.177734375, 20.31586456298828 ]
3.066667
92
0
92
0
[ 35.068359375, 110.7421875, 92.109375, 99.404296875, -39.7265625, 33.42723083496094 ]
[ 33.3984375, 110.390625, 92.548828125, 97.734375, -38.056640625, 22.75663948059082 ]
3.1
93
0
93
0
[ 35.244140625, 109.951171875, 92.197265625, 99.404296875, -39.7265625, 39.24882507324219 ]
[ 33.75, 109.951171875, 92.548828125, 97.734375, -38.232421875, 26.34601593017578 ]
3.133333
94
0
94
0
[ 35.419921875, 109.248046875, 92.197265625, 99.404296875, -39.7265625, 44.13145446777344 ]
[ 34.189453125, 109.072265625, 92.724609375, 97.734375, -38.232421875, 30.22254180908203 ]
3.166667
95
0
95
0
[ 35.595703125, 108.544921875, 92.28515625, 99.404296875, -39.7265625, 46.38497543334961 ]
[ 34.453125, 108.193359375, 92.900390625, 97.734375, -38.232421875, 34.52979278564453 ]
3.2
96
0
96
0
[ 35.68359375, 107.841796875, 92.373046875, 99.404296875, -40.25390625, 46.66666793823242 ]
[ 34.716796875, 107.490234375, 92.900390625, 97.734375, -38.232421875, 39.33955383300781 ]
3.233333
97
0
97
0
[ 35.771484375, 107.138671875, 92.63671875, 99.140625, -40.517578125, 46.66666793823242 ]
[ 34.8046875, 106.787109375, 92.900390625, 97.734375, -38.3203125, 43.072505950927734 ]
3.266667
98
0
98
0
[ 35.771484375, 106.5234375, 93.076171875, 98.525390625, -40.78125, 46.66666793823242 ]
[ 34.8046875, 106.259765625, 92.900390625, 97.734375, -39.0234375, 44.867191314697266 ]
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": "v2.0",
    "robot_type": "so100",
    "total_episodes": 25,
    "total_frames": 9485,
    "total_tasks": 1,
    "total_videos": 50,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:25"
    },
    "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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                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
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        },
        "observation.images.realsense_side": {
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        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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    }
}

Citation

BibTeX:

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