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Datasets:
Beegbrain
/
pick_place_green_block

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
block
pick
place
Libraries:
Datasets
Dask
License:
Dataset card Viewer Files Community
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action
sequence
observation.state
sequence
timestamp
float32
0
17.2
frame_index
int64
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517
episode_index
int64
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39
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int64
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17.2k
task_index
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[ 7.294921875, 162.7734375, 149.765625, 56.513671875, 3.33984375, 0 ]
[ 4.74609375, 166.11328125, 157.32421875, 58.095703125, 2.4609375, 0.8614501357078552 ]
2.6
78
0
78
0
[ 7.91015625, 160.927734375, 148.271484375, 56.162109375, 3.427734375, 0 ]
[ 5.712890625, 164.443359375, 156.09375, 57.392578125, 2.4609375, 0.8614501357078552 ]
2.633333
79
0
79
0
[ 8.525390625, 158.818359375, 146.513671875, 56.07421875, 3.8671875, 0 ]
[ 6.591796875, 162.59765625, 154.599609375, 57.216796875, 2.4609375, 0.8614501357078552 ]
2.666667
80
0
80
0
[ 9.052734375, 156.62109375, 144.66796875, 56.07421875, 3.955078125, 0 ]
[ 6.767578125, 160.48828125, 153.017578125, 57.216796875, 2.548828125, 0.8614501357078552 ]
2.7
81
0
81
0
[ 9.66796875, 154.248046875, 142.734375, 56.07421875, 3.955078125, 0 ]
[ 7.55859375, 158.466796875, 151.5234375, 57.216796875, 2.4609375, 0.8614501357078552 ]
2.733333
82
0
82
0
[ 10.37109375, 151.787109375, 140.625, 56.07421875, 3.955078125, 0 ]
[ 8.4375, 156.26953125, 149.58984375, 57.216796875, 2.4609375, 0.8614501357078552 ]
2.766667
83
0
83
0
[ 11.07421875, 149.4140625, 138.515625, 56.162109375, 3.955078125, 0 ]
[ 8.96484375, 154.248046875, 147.48046875, 57.216796875, 2.4609375, 0.8614501357078552 ]
2.8
84
0
84
0
[ 11.6015625, 147.3046875, 136.669921875, 56.162109375, 3.779296875, 0 ]
[ 9.580078125, 151.962890625, 145.283203125, 57.216796875, 2.373046875, 0.8614501357078552 ]
2.833333
85
0
85
0
[ 12.216796875, 145.1953125, 134.912109375, 56.25, 3.427734375, 0 ]
[ 10.37109375, 149.501953125, 142.91015625, 57.216796875, 2.373046875, 0.8614501357078552 ]
2.866667
86
0
86
0
[ 12.65625, 143.173828125, 133.330078125, 56.25, 3.076171875, 0 ]
[ 10.986328125, 147.12890625, 140.888671875, 57.216796875, 2.373046875, 0.8614501357078552 ]
2.9
87
0
87
0
[ 13.18359375, 141.328125, 131.66015625, 56.513671875, 2.98828125, 0 ]
[ 11.162109375, 145.107421875, 139.04296875, 57.216796875, 2.373046875, 0.8614501357078552 ]
2.933333
88
0
88
0
[ 13.623046875, 139.5703125, 129.990234375, 56.77734375, 2.98828125, 0 ]
[ 11.865234375, 143.173828125, 137.548828125, 57.216796875, 2.373046875, 0.8614501357078552 ]
2.966667
89
0
89
0
[ 14.0625, 137.8125, 128.3203125, 57.3046875, 2.8125, 0 ]
[ 12.3046875, 141.240234375, 136.23046875, 57.216796875, 2.373046875, 0.8614501357078552 ]
3
90
0
90
0
[ 14.501953125, 136.0546875, 126.38671875, 58.0078125, 2.8125, 0 ]
[ 13.095703125, 138.8671875, 134.296875, 57.216796875, 2.373046875, 0.8614501357078552 ]
3.033333
91
0
91
0
[ 14.853515625, 134.296875, 124.1015625, 59.326171875, 2.900390625, 0 ]
[ 13.359375, 137.021484375, 132.802734375, 57.216796875, 2.373046875, 0.8614501357078552 ]
3.066667
92
0
92
0
[ 15.1171875, 132.5390625, 121.640625, 61.083984375, 2.8125, 0 ]
[ 13.447265625, 135.615234375, 131.30859375, 57.568359375, 2.373046875, 0.8614501357078552 ]
3.1
93
0
93
0
[ 15.380859375, 130.693359375, 119.00390625, 62.841796875, 2.548828125, 0 ]
[ 13.447265625, 133.9453125, 129.375, 58.798828125, 2.373046875, 0.8614501357078552 ]
3.133333
94
0
94
0
[ 15.64453125, 128.935546875, 116.3671875, 64.51171875, 2.548828125, 0 ]
[ 13.974609375, 131.748046875, 126.5625, 60.556640625, 2.373046875, 0.8614501357078552 ]
3.166667
95
0
95
0
[ 15.908203125, 127.177734375, 114.169921875, 65.830078125, 2.4609375, 0 ]
[ 14.326171875, 129.638671875, 124.013671875, 61.5234375, 2.373046875, 0.8614501357078552 ]
3.2
96
0
96
0
[ 16.171875, 125.595703125, 112.236328125, 66.62109375, 2.373046875, 0 ]
[ 14.501953125, 127.6171875, 121.376953125, 63.10546875, 2.373046875, 0.8614501357078552 ]
3.233333
97
0
97
0
[ 16.435546875, 123.92578125, 110.56640625, 67.236328125, 2.28515625, 0 ]
[ 14.58984375, 126.2109375, 119.091796875, 64.599609375, 2.373046875, 0.8614501357078552 ]
3.266667
98
0
98
0
[ 16.69921875, 122.16796875, 108.720703125, 68.02734375, 2.021484375, 0 ]
[ 15.029296875, 124.716796875, 116.89453125, 65.56640625, 2.373046875, 0.8614501357078552 ]
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": "so100",
    "total_episodes": 40,
    "total_frames": 17250,
    "total_tasks": 1,
    "total_videos": 80,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
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    "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_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
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            ]
        },
        "observation.state": {
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            "names": [
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                "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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            "names": null
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        "frame_index": {
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        "episode_index": {
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        }
    }
}

Citation

BibTeX:

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