team-sobits/sobit_home_pickup_block_left_abs_smolvla_vlmft
Robotics • 0.5B • Updated • 12
Datasets:
Search is not available for this dataset
action list | observation.state list | timestamp float32 0 39 | frame_index int64 0 390 | episode_index int64 0 331 | index int64 0 68.6k | task_index int64 0 0 |
|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "mobile_manipulator",
"total_episodes": 332,
"total_frames": 68605,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
"train": "0:332"
},
"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": [
19
],
"names": [
"head_pan_joint",
"head_tilt_joint",
"body_lift_joint",
"arm_left_shoulder_tilt_joint",
"arm_left_upper_roll_joint",
"arm_left_upper_flex_joint",
"arm_left_elbow_joint",
"arm_left_wrist_tilt_joint",
"arm_left_wrist_roll_joint",
"hand_left_finger_l_mcp_joint",
"hand_left_finger_l_pip_joint",
"hand_left_finger_l_dip_joint",
"hand_left_finger_c_mcp_joint",
"hand_left_finger_c_ip_joint",
"hand_left_finger_r_pip_joint",
"hand_left_finger_r_dip_joint",
"base_x",
"base_y",
"base_theta"
]
},
"observation.state": {
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"shape": [
19
],
"names": [
"head_pan_joint",
"head_tilt_joint",
"body_lift_joint",
"arm_left_shoulder_tilt_joint",
"arm_left_upper_roll_joint",
"arm_left_upper_flex_joint",
"arm_left_elbow_joint",
"arm_left_wrist_tilt_joint",
"arm_left_wrist_roll_joint",
"hand_left_finger_l_mcp_joint",
"hand_left_finger_l_pip_joint",
"hand_left_finger_l_dip_joint",
"hand_left_finger_c_mcp_joint",
"hand_left_finger_c_ip_joint",
"hand_left_finger_r_pip_joint",
"hand_left_finger_r_dip_joint",
"base_x",
"base_y",
"base_theta"
]
},
"observation.images.head_camera": {
"dtype": "video",
"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.hand_left_camera": {
"dtype": "video",
"shape": [
3,
1200,
1920
],
"names": [
"channels",
"height",
"width"
],
"info": {
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"video.width": 1920,
"video.codec": "h264",
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"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"timestamp": {
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"shape": [
1
],
"names": null
},
"frame_index": {
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1
],
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},
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1
],
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},
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1
],
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},
"task_index": {
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1
],
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}
},
"robot_info": {
"name": "sobit_home",
"version": "1.0.0",
"morphology": {
"type": "mobile_manipulator",
"joint_states_topic": "/sobit_home/joint_states",
"parts": [
"head",
"body",
"arm_left",
"arm_right",
"end_effector_left",
"end_effector_right",
"mobile_base"
],
"head": {
"is_actionable": true,
"command_topic": "/sobit_home/head_position_controller/joint_trajectory",
"state_topic": "/sobit_home/head_position_controller/controller_state",
"actions": [
"/sobit_home/head_position_controller/follow_joint_trajectory"
],
"joint_names": [
"head_pan_joint",
"head_tilt_joint"
]
},
"body": {
"is_actionable": true,
"command_topic": "/sobit_home/body_position_controller/joint_trajectory",
"state_topic": "/sobit_home/body_position_controller/controller_state",
"actions": [
"/sobit_home/body_position_controller/follow_joint_trajectory"
],
"joint_names": [
"body_lift_joint"
]
},
"arm_left": {
"is_actionable": true,
"command_topic": "/sobit_home/arm_left_position_controller/joint_trajectory",
"state_topic": "/sobit_home/arm_left_position_controller/controller_state",
"actions": [
"/sobit_home/arm_left_position_controller/follow_joint_trajectory"
],
"joint_names": [
"arm_left_shoulder_tilt_joint",
"arm_left_upper_roll_joint",
"arm_left_upper_flex_joint",
"arm_left_elbow_joint",
"arm_left_wrist_tilt_joint",
"arm_left_wrist_roll_joint"
]
},
"arm_right": {
"is_actionable": true,
"command_topic": "/sobit_home/arm_right_position_controller/joint_trajectory",
"state_topic": "/sobit_home/arm_right_position_controller/controller_state",
"actions": [
"/sobit_home/arm_right_position_controller/follow_joint_trajectory"
],
"joint_names": [
"arm_right_shoulder_tilt_joint",
"arm_right_upper_roll_joint",
"arm_right_upper_flex_joint",
"arm_right_elbow_joint",
"arm_right_wrist_tilt_joint",
"arm_right_wrist_roll_joint"
]
},
"end_effector_left": {
"is_actionable": true,
"command_topic": "/sobit_home/hand_left_position_controller/joint_trajectory",
"state_topic": "/sobit_home/hand_left_position_controller/controller_state",
"actions": [
"/sobit_home/hand_left_position_controller/follow_joint_trajectory"
],
"joint_names": [
"hand_left_finger_l_mcp_joint",
"hand_left_finger_l_pip_joint",
"hand_left_finger_l_dip_joint",
"hand_left_finger_c_mcp_joint",
"hand_left_finger_c_ip_joint",
"hand_left_finger_r_mcp_joint",
"hand_left_finger_r_pip_joint",
"hand_left_finger_r_dip_joint"
]
},
"end_effector_right": {
"is_actionable": true,
"command_topic": "/sobit_home/hand_right_position_controller/joint_trajectory",
"state_topic": "/sobit_home/hand_right_position_controller/controller_state",
"actions": [
"/sobit_home/hand_right_position_controller/follow_joint_trajectory"
],
"joint_names": [
"hand_right_finger_l_mcp_joint",
"hand_right_finger_l_pip_joint",
"hand_right_finger_l_dip_joint",
"hand_right_finger_c_mcp_joint",
"hand_right_finger_c_ip_joint",
"hand_right_finger_r_mcp_joint",
"hand_right_finger_r_pip_joint",
"hand_right_finger_r_dip_joint"
]
},
"mobile_base": {
"is_actionable": true,
"has_cmd_vel_y": true,
"has_cmd_vel_z": false,
"cmd_vel_topic": "/sobit_home/cmd_vel",
"odom_topic": "/sobit_home/odom",
"joint_names": [
"wheel_steer_f_l_joint",
"wheel_steer_f_r_joint",
"wheel_steer_b_l_joint",
"wheel_steer_b_r_joint",
"wheel_drive_f_l_joint",
"wheel_drive_f_r_joint",
"wheel_drive_b_l_joint",
"wheel_drive_b_r_joint"
]
}
},
"sensors": {
"types": [
"rgb_cam"
],
"rgb_cam": {
"names": [
"head_camera",
"hand_left_camera",
"hand_right_camera"
],
"models": [
"orbbec_336l",
"elp_usbgs1200p01_h120_j",
"elp_usbgs1200p01_h120_j"
],
"topics": [],
"info_topics": [
"/sobit_home/head_camera/color/camera_info",
"/sobit_home/hand_left_camera/color/camera_info",
"/sobit_home/hand_right_camera/color/camera_info"
],
"compressed_topics": [
"/sobit_home/head_camera/color/image_raw/compressed",
"/sobit_home/hand_left_camera/color/image_raw/compressed",
"/sobit_home/hand_right_camera/color/image_raw/compressed"
],
"properties": {
"head_camera": {
"width": 640,
"height": 480,
"topic": "/sobit_home/head_camera/color/camera_info"
},
"hand_left_camera": {
"width": 1920,
"height": 1200,
"topic": "/sobit_home/hand_left_camera/color/camera_info"
},
"hand_right_camera": {
"width": 1920,
"height": 1200,
"topic": "/sobit_home/hand_right_camera/color/camera_info"
}
}
}
}
},
"user_info": {
"name": "Keith Valentin",
"email": "e25d5303@soka-u.jp",
"location": "Soka University, Japan"
}
}
Citation
BibTeX:
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