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Datasets:
rgarreta
/
koch_pick_place_lego_v6

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
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Dask
License:
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action
sequence
observation.state
sequence
timestamp
float32
0
15.5
frame_index
int64
0
466
episode_index
int64
0
50
index
int64
0
16.9k
task_index
int64
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[ -2.63671875, 90.439453125, 108.80859375, 47.28515625, -79.189453125, 34.189453125 ]
2.5
75
0
75
0
[ -2.8125, 88.41796875, 102.568359375, 47.4609375, -79.8046875, 34.365234375 ]
[ -2.197265625, 89.296875, 107.75390625, 47.197265625, -79.1015625, 34.189453125 ]
2.533333
76
0
76
0
[ -2.8125, 87.451171875, 101.865234375, 47.4609375, -79.8046875, 34.365234375 ]
[ -2.109375, 88.2421875, 106.962890625, 47.28515625, -79.013671875, 34.189453125 ]
2.566667
77
0
77
0
[ -2.8125, 86.396484375, 101.25, 47.4609375, -79.8046875, 34.365234375 ]
[ -2.109375, 87.1875, 105.99609375, 47.28515625, -79.1015625, 34.189453125 ]
2.6
78
0
78
0
[ -2.8125, 85.517578125, 100.72265625, 47.373046875, -79.8046875, 34.365234375 ]
[ -1.93359375, 86.044921875, 105.46875, 47.197265625, -79.1015625, 34.189453125 ]
2.633333
79
0
79
0
[ -2.8125, 84.462890625, 100.1953125, 47.373046875, -79.892578125, 34.453125 ]
[ -1.93359375, 85.078125, 105.029296875, 47.28515625, -79.013671875, 34.189453125 ]
2.666667
80
0
80
0
[ -2.900390625, 83.583984375, 99.84375, 47.373046875, -79.98046875, 34.716796875 ]
[ -1.93359375, 84.0234375, 104.677734375, 47.197265625, -79.013671875, 34.189453125 ]
2.7
81
0
81
0
[ -2.8125, 82.880859375, 99.404296875, 47.373046875, -80.244140625, 34.892578125 ]
[ -1.93359375, 82.96875, 104.58984375, 47.28515625, -79.013671875, 34.189453125 ]
2.733333
82
0
82
0
[ -2.8125, 82.08984375, 99.140625, 47.28515625, -80.5078125, 34.892578125 ]
[ -1.93359375, 81.9140625, 104.150390625, 47.197265625, -79.013671875, 34.189453125 ]
2.766667
83
0
83
0
[ -2.900390625, 81.2109375, 98.701171875, 47.197265625, -80.771484375, 34.541015625 ]
[ -1.93359375, 81.298828125, 104.0625, 47.197265625, -79.189453125, 34.189453125 ]
2.8
84
0
84
0
[ -2.900390625, 80.068359375, 98.0859375, 47.197265625, -80.771484375, 34.541015625 ]
[ -1.93359375, 80.68359375, 103.7109375, 47.28515625, -79.365234375, 34.189453125 ]
2.833333
85
0
85
0
[ -2.900390625, 79.365234375, 97.55859375, 47.197265625, -80.859375, 34.62890625 ]
[ -1.93359375, 79.98046875, 103.0078125, 47.109375, -79.453125, 34.189453125 ]
2.866667
86
0
86
0
[ -2.98828125, 78.3984375, 96.85546875, 47.109375, -81.03515625, 35.15625 ]
[ -1.93359375, 79.013671875, 101.953125, 47.197265625, -79.541015625, 34.189453125 ]
2.9
87
0
87
0
[ -2.98828125, 77.958984375, 96.240234375, 47.109375, -81.03515625, 35.419921875 ]
[ -1.93359375, 77.958984375, 101.07421875, 47.109375, -79.62890625, 34.453125 ]
2.933333
88
0
88
0
[ -2.98828125, 77.16796875, 95.80078125, 47.109375, -80.947265625, 34.62890625 ]
[ -1.93359375, 77.080078125, 100.37109375, 47.109375, -79.892578125, 34.62890625 ]
2.966667
89
0
89
0
[ -3.076171875, 76.81640625, 95.44921875, 47.109375, -80.947265625, 34.62890625 ]
[ -2.021484375, 76.46484375, 100.1953125, 47.197265625, -79.98046875, 34.27734375 ]
3
90
0
90
0
[ -3.251953125, 76.728515625, 95.537109375, 47.109375, -81.03515625, 34.541015625 ]
[ -2.197265625, 75.849609375, 99.931640625, 47.197265625, -79.892578125, 34.189453125 ]
3.033333
91
0
91
0
[ -3.427734375, 76.2890625, 95.537109375, 47.109375, -81.123046875, 34.541015625 ]
[ -2.63671875, 75.498046875, 99.84375, 47.109375, -79.98046875, 34.189453125 ]
3.066667
92
0
92
0
[ -3.515625, 75.76171875, 95.537109375, 47.109375, -81.2109375, 34.453125 ]
[ -2.900390625, 75.41015625, 99.84375, 47.197265625, -80.244140625, 34.189453125 ]
3.1
93
0
93
0
[ -3.603515625, 75.322265625, 95.537109375, 47.021484375, -81.2109375, 34.365234375 ]
[ -2.98828125, 74.970703125, 99.84375, 47.197265625, -80.33203125, 34.189453125 ]
3.133333
94
0
94
0
[ -3.515625, 74.8828125, 95.44921875, 46.93359375, -81.298828125, 34.1015625 ]
[ -2.98828125, 74.53125, 99.755859375, 47.109375, -80.419921875, 34.189453125 ]
3.166667
95
0
95
0
[ -3.603515625, 74.1796875, 95.361328125, 46.7578125, -81.298828125, 33.837890625 ]
[ -2.98828125, 73.916015625, 99.84375, 47.197265625, -80.419921875, 34.189453125 ]
3.2
96
0
96
0
[ -3.603515625, 73.65234375, 95.009765625, 46.7578125, -81.298828125, 33.22265625 ]
[ -3.076171875, 73.4765625, 99.84375, 47.109375, -80.419921875, 33.75 ]
3.233333
97
0
97
0
[ -3.69140625, 73.037109375, 94.74609375, 46.669921875, -81.298828125, 32.87109375 ]
[ -2.98828125, 72.861328125, 99.84375, 47.109375, -80.419921875, 33.486328125 ]
3.266667
98
0
98
0
[ -3.779296875, 72.421875, 94.5703125, 46.58203125, -81.298828125, 32.51953125 ]
[ -2.98828125, 72.509765625, 99.755859375, 47.109375, -80.419921875, 33.046875 ]
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": 51,
    "total_frames": 16890,
    "total_tasks": 1,
    "total_videos": 102,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:51"
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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",
                "main_gripper"
            ]
        },
        "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.laptop": {
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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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