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float32
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22.6
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int64
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678
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[ 283.4349365234375, 88.38404846191406, 241.7686004638672, 81.62825775146484, 79.02429962158203, 62.95573425292969, 72.24388122558594, 10.59689998626709, -128.54013061523438, 6.350535869598389, -102.72291564941406, 5.26840877532959, 0.20474374294281006 ]
3.066667
92
0
92
0
[ 285.7990417480469, 88.69586944580078, 237.6490478515625, 81.0924072265625, 78.50164794921875, 63.42079162597656, 72.8000717163086, 11.00507926940918, -129.2960968017578, 6.789760589599609, -101.79058837890625, 6.37156343460083, 0 ]
[ 285.7990417480469, 88.69586944580078, 237.6490478515625, 81.0924072265625, 78.50164794921875, 63.42079162597656, 72.8000717163086, 11.00507926940918, -129.2960968017578, 6.789760589599609, -101.79058837890625, 6.37156343460083, 0.22418975830078125 ]
3.1
93
0
93
0
[ 287.03924560546875, 88.833251953125, 235.54547119140625, 80.81935119628906, 78.22915649414062, 63.64970779418945, 71.55194091796875, 9.344111442565918, -124.24529266357422, 5.388664722442627, -98.08782958984375, 4.132564544677734, 0 ]
[ 287.03924560546875, 88.833251953125, 235.54547119140625, 80.81935119628906, 78.22915649414062, 63.64970779418945, 71.55194091796875, 9.344111442565918, -124.24529266357422, 5.388664722442627, -98.08782958984375, 4.132564544677734, 0.22418975830078125 ]
3.133333
94
0
94
0
[ 287.03924560546875, 88.833251953125, 235.54547119140625, 80.81935119628906, 78.22915649414062, 63.64970779418945, 71.49871826171875, 10.021424293518066, -124.86036682128906, 5.4690141677856445, -97.588623046875, 5.197565078735352, 0 ]
[ 287.03924560546875, 88.833251953125, 235.54547119140625, 80.81935119628906, 78.22915649414062, 63.64970779418945, 71.55194091796875, 9.344111442565918, -124.24529266357422, 5.388664722442627, -98.08782958984375, 4.132564544677734, 0.2343285083770752 ]
3.166667
95
0
95
0
[ 289.45947265625, 89.11956024169922, 231.4326171875, 80.287353515625, 77.70865631103516, 64.0979995727539, 70.9517822265625, 9.307549476623535, -122.9022216796875, 5.442187786102295, -95.72865295410156, 4.832827568054199, 0 ]
[ 288.25396728515625, 88.98121643066406, 233.47314453125, 80.55065155029297, 77.96688079833984, 63.87611770629883, 70.9517822265625, 9.307549476623535, -122.9022216796875, 5.442187786102295, -95.72865295410156, 4.832827568054199, 0.25172263383865356 ]
3.2
96
0
96
0
[ 290.729248046875, 89.24346160888672, 229.33489990234375, 80.01588439941406, 77.43732452392578, 64.3187255859375, 75.98135375976562, 8.530780792236328, -128.52804565429688, 4.600992202758789, -100.57960510253906, 3.1570959091186523, 0 ]
[ 290.729248046875, 89.24346160888672, 229.33489990234375, 80.01588439941406, 77.43732452392578, 64.3187255859375, 75.98135375976562, 8.530780792236328, -128.52804565429688, 4.600992202758789, -100.57960510253906, 3.1570959091186523, 0.25172263383865356 ]
3.233333
97
0
97
0
[ 290.729248046875, 89.24346160888672, 229.33489990234375, 80.01588439941406, 77.43732452392578, 64.3187255859375, 75.98135375976562, 8.530780792236328, -128.52804565429688, 4.600992202758789, -100.57960510253906, 3.1570959091186523, 0 ]
[ 290.729248046875, 89.24346160888672, 229.33489990234375, 80.01588439941406, 77.43732452392578, 64.3187255859375, 75.98135375976562, 8.530780792236328, -128.52804565429688, 4.600992202758789, -100.57960510253906, 3.1570959091186523, 0.2610701322555542 ]
3.266667
98
0
98
0
[ 293.2072448730469, 89.49795532226562, 225.23666381835938, 79.48654174804688, 76.91754913330078, 64.74966430664062, 69.68075561523438, 7.684020042419434, -117.4228286743164, 4.1664204597473145, -90.90189361572266, 3.388479471206665, 0 ]
[ 291.97271728515625, 89.37643432617188, 227.26950073242188, 79.74858093261719, 77.1756591796875, 64.53662109375, 69.68075561523438, 7.684020042419434, -117.4228286743164, 4.1664204597473145, -90.90189361572266, 3.388479471206665, 0.2762112021446228 ]
3.3
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Description

Isaac Sim environment

robot: so101_sim

task: Pick up the coffee cup

video res: 640 x 480

fps: 30

camera location: wrist

input data: tcp pose, gripper status, images

output data: tcp pose, gripper status

gripper mode: angle (0.0: off, 180.0: on)

unit: mm, degrees

5 fixed positions.

  • Homepage: [More Information Needed]
  • Paper: [More Information Needed]
  • License: apache-2.0

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "ps_a_03_500_client",
    "total_episodes": 50,
    "total_frames": 29153,
    "total_tasks": 1,
    "total_videos": 50,
    "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": {
        "action": {
            "dtype": "float32",
            "shape": [
                13
            ],
            "names": [
                "x.pos",
                "y.pos",
                "z.pos",
                "rx.pos",
                "ry.pos",
                "rz.pos",
                "x.vel",
                "y.vel",
                "z.vel",
                "pitch.vel",
                "roll.vel",
                "yaw.vel",
                "gripper.status"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                13
            ],
            "names": [
                "x.pos",
                "y.pos",
                "z.pos",
                "rx.pos",
                "ry.pos",
                "rz.pos",
                "x.vel",
                "y.vel",
                "z.vel",
                "pitch.vel",
                "roll.vel",
                "yaw.vel",
                "gripper.status"
            ]
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

[More Information Needed]
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