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Datasets:
lucazanett
/
plug_01

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
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Dask
Polars
License:
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listlengths
13
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[ 0.4840396046638489, -0.037588730454444885, 0.1526796519756317, -0.1311509758234024, -0.050253257155418396, -2.873727321624756, 0.025462554767727852, 0.4000000059604645, 1 ]
[ -4.574850082397461, 0.09841742366552353, 2.4748969078063965, 0.3684263527393341, 0.45059704780578613, 0.5206055045127869 ]
3.166667
95
0
95
0
[ 0.4786979556083679, -0.03235593065619469, 0.12706522643566132, -0.2705317735671997, -0.036377180367708206, -2.611480951309204, 500, 500, 166.35980224609375, 30, 30, 30, 1 ]
[ 0.48382285237312317, -0.037471577525138855, 0.15099769830703735, -0.13087299466133118, -0.04801987484097481, -2.8610692024230957, 0.025462554767727852, 0.4000000059604645, 1 ]
[ -4.544172286987305, 0.16858462989330292, 2.3746321201324463, 0.4039691090583801, 0.4339188039302826, 0.5417575240135193 ]
3.2
96
0
96
0
[ 0.4785555303096771, -0.0324043333530426, 0.12543749809265137, -0.2712964415550232, -0.03712017461657524, -2.6042816638946533, 500, 500, 169.4136962890625, 30, 30, 30, 1 ]
[ 0.48363426327705383, -0.03734526038169861, 0.14938387274742126, -0.13086825609207153, -0.046002358198165894, -2.848874568939209, 0.025462554767727852, 0.4000000059604645, 1 ]
[ -5.220170497894287, 0.3031831383705139, 2.7040860652923584, 0.4271838366985321, 0.47467637062072754, 0.5566401481628418 ]
3.233333
97
0
97
0
[ 0.47851845622062683, -0.03244476392865181, 0.1238117665052414, -0.27339962124824524, -0.037846535444259644, -2.5945913791656494, 500, 500, 174.69754028320312, 30, 30, 30, 1 ]
[ 0.48344162106513977, -0.037234507501125336, 0.147756889462471, -0.1312193125486374, -0.04417918995022774, -2.836771011352539, 0.025462554767727852, 0.5, 1 ]
[ -5.426377773284912, 0.18006232380867004, 2.8336548805236816, 0.44232216477394104, 0.5098394751548767, 0.5831162333488464 ]
3.266667
98
0
98
0
[ 0.4784635603427887, -0.0326954685151577, 0.12219307571649551, -0.27062031626701355, -0.035039737820625305, -2.589582681655884, 500, 500, 180.7478485107422, 30, 30, 30, 1 ]
[ 0.48313844203948975, -0.03710654750466347, 0.14612463116645813, -0.1313505321741104, -0.042169343680143356, -2.8247528076171875, 0.025462554767727852, 0.4000000059604645, 1 ]
[ -5.803164958953857, 0.5948799848556519, 3.4706804752349854, 0.5019475221633911, 0.5250385403633118, 0.6165251731872559 ]
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": 21896,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 20,
    "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": [
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        },
        "observation.state": {
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            "names": [
                "position.x",
                "position.y",
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                "orientation.x",
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                "orientation.z",
                "gripper",
                "gripper_force",
                "obj_detected"
            ],
            "shape": [
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        },
        "observation.images.wrist_rgb": {
            "dtype": "video",
            "shape": [
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                640,
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            ],
            "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,
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        },
        "observation.images.behind_rgb": {
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            "names": [
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                "channels"
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            "info": {
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                "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": {
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            "names": [
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                "ft_fy",
                "ft_fz",
                "ft_tx",
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                "ft_tz"
            ],
            "shape": [
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        },
        "timestamp": {
            "dtype": "float32",
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        },
        "task_index": {
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            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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Models trained or fine-tuned on lucazanett/plug_01