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Datasets:
rgarreta
/
koch_pick_place_lego

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
Dataset card Viewer Files Community
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action
sequence
observation.state
sequence
timestamp
float32
0
14.1
frame_index
int64
0
424
episode_index
int64
0
49
index
int64
0
12.8k
task_index
int64
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0
[ -26.982421875, 72.685546875, 68.5546875, 90.966796875, 27.0703125, 32.87109375 ]
[ -25.751953125, 75.234375, 75.498046875, 85.869140625, 24.345703125, 32.607421875 ]
2.5
75
0
75
0
[ -26.982421875, 71.19140625, 66.884765625, 91.58203125, 27.861328125, 32.87109375 ]
[ -25.751953125, 73.212890625, 72.421875, 87.1875, 25.224609375, 32.607421875 ]
2.533333
76
0
76
0
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[ -25.927734375, 71.630859375, 69.345703125, 88.330078125, 25.83984375, 32.607421875 ]
2.566667
77
0
77
0
[ -27.158203125, 69.43359375, 65.390625, 92.197265625, 29.619140625, 32.87109375 ]
[ -25.927734375, 70.400390625, 68.02734375, 89.033203125, 26.54296875, 32.607421875 ]
2.6
78
0
78
0
[ -27.333984375, 68.90625, 64.775390625, 92.4609375, 30.234375, 32.87109375 ]
[ -26.19140625, 69.169921875, 67.67578125, 89.736328125, 27.421875, 32.607421875 ]
2.633333
79
0
79
0
[ -27.685546875, 68.115234375, 64.599609375, 92.548828125, 30.849609375, 32.958984375 ]
[ -26.630859375, 68.02734375, 67.32421875, 90.17578125, 28.125, 32.607421875 ]
2.666667
80
0
80
0
[ -28.037109375, 67.763671875, 64.3359375, 92.63671875, 31.376953125, 32.958984375 ]
[ -26.71875, 67.412109375, 67.32421875, 90.439453125, 28.828125, 32.607421875 ]
2.7
81
0
81
0
[ -28.125, 67.32421875, 63.80859375, 92.724609375, 32.255859375, 33.046875 ]
[ -26.982421875, 66.884765625, 67.32421875, 90.615234375, 29.53125, 32.607421875 ]
2.733333
82
0
82
0
[ -28.125, 66.4453125, 62.9296875, 92.98828125, 33.22265625, 33.046875 ]
[ -27.333984375, 66.533203125, 66.62109375, 90.791015625, 30.234375, 32.783203125 ]
2.766667
83
0
83
0
[ -28.037109375, 65.830078125, 62.05078125, 93.33984375, 34.189453125, 33.310546875 ]
[ -27.59765625, 65.91796875, 65.478515625, 90.87890625, 31.025390625, 32.783203125 ]
2.8
84
0
84
0
[ -27.94921875, 65.478515625, 61.611328125, 93.515625, 35.68359375, 34.541015625 ]
[ -27.59765625, 65.126953125, 64.6875, 90.966796875, 31.9921875, 32.783203125 ]
2.833333
85
0
85
0
[ -27.7734375, 65.126953125, 60.908203125, 93.515625, 36.650390625, 34.892578125 ]
[ -27.509765625, 64.51171875, 64.072265625, 91.23046875, 33.046875, 33.134765625 ]
2.866667
86
0
86
0
[ -27.509765625, 64.599609375, 59.765625, 93.955078125, 37.529296875, 35.15625 ]
[ -27.333984375, 64.248046875, 63.544921875, 91.40625, 33.92578125, 33.310546875 ]
2.9
87
0
87
0
[ -27.24609375, 63.720703125, 58.623046875, 94.39453125, 38.14453125, 35.5078125 ]
[ -27.24609375, 63.896484375, 62.9296875, 91.494140625, 34.892578125, 33.837890625 ]
2.933333
88
0
88
0
[ -27.0703125, 63.017578125, 57.392578125, 94.5703125, 38.583984375, 35.771484375 ]
[ -27.158203125, 63.10546875, 61.083984375, 91.7578125, 35.859375, 34.189453125 ]
2.966667
89
0
89
0
[ -26.630859375, 62.2265625, 56.337890625, 94.5703125, 39.0234375, 35.947265625 ]
[ -27.158203125, 62.490234375, 59.677734375, 92.109375, 36.650390625, 34.27734375 ]
3
90
0
90
0
[ -26.103515625, 61.171875, 54.931640625, 94.5703125, 39.375, 36.03515625 ]
[ -26.71875, 61.875, 59.150390625, 92.28515625, 37.353515625, 34.365234375 ]
3.033333
91
0
91
0
[ -25.3125, 59.677734375, 53.0859375, 94.5703125, 39.55078125, 36.123046875 ]
[ -26.3671875, 60.99609375, 58.0078125, 92.548828125, 38.056640625, 34.8046875 ]
3.066667
92
0
92
0
[ -24.609375, 58.447265625, 51.416015625, 94.5703125, 39.990234375, 36.474609375 ]
[ -25.927734375, 59.765625, 56.162109375, 92.63671875, 38.14453125, 35.15625 ]
3.1
93
0
93
0
[ -23.994140625, 56.953125, 49.833984375, 94.5703125, 40.166015625, 36.5625 ]
[ -25.224609375, 58.359375, 54.31640625, 92.8125, 38.408203125, 35.15625 ]
3.133333
94
0
94
0
[ -23.5546875, 55.986328125, 48.779296875, 94.5703125, 40.25390625, 36.5625 ]
[ -24.169921875, 56.865234375, 52.470703125, 92.8125, 38.671875, 35.15625 ]
3.166667
95
0
95
0
[ -23.115234375, 55.107421875, 48.076171875, 94.5703125, 40.25390625, 36.5625 ]
[ -23.291015625, 55.283203125, 50.888671875, 92.724609375, 39.0234375, 35.15625 ]
3.2
96
0
96
0
[ -22.8515625, 54.404296875, 47.63671875, 94.5703125, 40.166015625, 36.5625 ]
[ -23.115234375, 54.31640625, 50.361328125, 92.724609375, 39.287109375, 35.15625 ]
3.233333
97
0
97
0
[ -22.32421875, 53.61328125, 47.28515625, 94.5703125, 40.25390625, 36.5625 ]
[ -23.02734375, 53.61328125, 50.2734375, 92.8125, 39.287109375, 35.15625 ]
3.266667
98
0
98
0
[ -21.97265625, 52.734375, 47.021484375, 94.5703125, 40.166015625, 36.5625 ]
[ -22.587890625, 52.91015625, 50.2734375, 92.8125, 39.375, 35.15625 ]
3.3
99
0
99
0
End of preview. Expand in Dataset Viewer.

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "koch",
    "total_episodes": 50,
    "total_frames": 12821,
    "total_tasks": 1,
    "total_videos": 100,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "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"
            ]
        },
        "observation.images.laptop": {
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            "shape": [
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            "info": {
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        "timestamp": {
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            "shape": [
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            "names": null
        },
        "frame_index": {
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            "names": null
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        "episode_index": {
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        }
    }
}

Citation

BibTeX:

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