kjydb/cafe_007
Robotics
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Updated
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4
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list | observation.state
list | timestamp
float32 0
22.6
| frame_index
int64 0
678
| episode_index
int64 0
49
| index
int64 0
29.2k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
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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
{
"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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Size of downloaded dataset files:
4.41 MB
Size of the auto-converted Parquet files:
4.41 MB
Number of rows:
29,153
Models trained or fine-tuned on kjydb/cafe_007