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Datasets:
NONHUMAN-RESEARCH
/
ISAAC-GR00T-V1-Pick-Place

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
test
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
1
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action
sequence
observation.state
sequence
timestamp
float32
0
14.9
frame_index
int64
0
447
episode_index
int64
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89
index
int64
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40.3k
task_index
int64
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[ -0.3515625, 160.400390625, 153.10546875, 58.7109375, -5.9765625, 5.85774040222168 ]
2.366667
71
0
71
0
[ -1.23046875, 153.10546875, 143.701171875, 58.7109375, -6.064453125, 6.007393836975098 ]
[ -0.52734375, 158.73046875, 151.787109375, 58.7109375, -5.9765625, 5.85774040222168 ]
2.4
72
0
72
0
[ -1.318359375, 151.5234375, 142.470703125, 58.7109375, -5.9765625, 6.007393836975098 ]
[ -0.703125, 157.1484375, 150.46875, 58.7109375, -5.9765625, 5.85774040222168 ]
2.433333
73
0
73
0
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[ -0.87890625, 155.390625, 149.23828125, 58.7109375, -5.9765625, 5.85774040222168 ]
2.466667
74
0
74
0
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[ -1.0546875, 153.544921875, 148.0078125, 58.7109375, -5.9765625, 5.85774040222168 ]
2.5
75
0
75
0
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2.533333
76
0
76
0
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2.566667
77
0
77
0
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[ -1.58203125, 148.623046875, 144.31640625, 58.7109375, -5.9765625, 5.85774040222168 ]
2.6
78
0
78
0
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2.633333
79
0
79
0
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2.666667
80
0
80
0
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[ -2.109375, 143.7890625, 141.15234375, 58.7109375, -5.9765625, 6.6108784675598145 ]
2.7
81
0
81
0
[ -2.724609375, 137.197265625, 133.2421875, 57.392578125, -6.064453125, 8.502772331237793 ]
[ -2.197265625, 142.03125, 140.009765625, 58.7109375, -5.9765625, 6.945606708526611 ]
2.733333
82
0
82
0
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2.766667
83
0
83
0
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[ -2.28515625, 138.955078125, 138.1640625, 58.7109375, -5.9765625, 7.8661088943481445 ]
2.8
84
0
84
0
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[ -2.28515625, 137.197265625, 137.197265625, 58.623046875, -5.9765625, 8.28451919555664 ]
2.833333
85
0
85
0
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[ -2.4609375, 135.439453125, 136.142578125, 58.53515625, -5.9765625, 8.619246482849121 ]
2.866667
86
0
86
0
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[ -2.724609375, 133.681640625, 135.087890625, 58.271484375, -5.9765625, 9.037656784057617 ]
2.9
87
0
87
0
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[ -2.98828125, 131.572265625, 133.76953125, 58.095703125, -5.9765625, 9.372385025024414 ]
2.933333
88
0
88
0
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2.966667
89
0
89
0
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[ -3.603515625, 127.6171875, 131.396484375, 58.095703125, -5.9765625, 9.539749145507812 ]
3
90
0
90
0
[ -5.44921875, 119.091796875, 121.552734375, 57.216796875, -6.50390625, 9.981515884399414 ]
[ -3.955078125, 125.5078125, 130.078125, 58.095703125, -5.9765625, 9.623431205749512 ]
3.033333
91
0
91
0
[ -5.888671875, 117.0703125, 120.146484375, 57.216796875, -6.591796875, 9.981515884399414 ]
[ -4.306640625, 123.310546875, 128.671875, 58.095703125, -5.9765625, 9.707113265991211 ]
3.066667
92
0
92
0
[ -6.240234375, 115.048828125, 118.65234375, 57.12890625, -6.591796875, 9.981515884399414 ]
[ -4.74609375, 121.11328125, 127.265625, 58.095703125, -5.9765625, 9.707113265991211 ]
3.1
93
0
93
0
[ -6.6796875, 113.02734375, 116.982421875, 57.12890625, -6.6796875, 9.981515884399414 ]
[ -5.185546875, 118.916015625, 125.859375, 58.095703125, -5.9765625, 9.707113265991211 ]
3.133333
94
0
94
0
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[ -5.537109375, 116.630859375, 124.453125, 58.095703125, -5.9765625, 9.707113265991211 ]
3.166667
95
0
95
0
[ -7.294921875, 109.16015625, 113.90625, 57.041015625, -6.85546875, 9.704251289367676 ]
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3.2
96
0
96
0
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[ -6.328125, 112.412109375, 121.46484375, 57.83203125, -6.240234375, 9.707113265991211 ]
3.233333
97
0
97
0
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[ -6.591796875, 110.302734375, 119.8828125, 57.744140625, -6.416015625, 9.707113265991211 ]
3.266667
98
0
98
0
[ -8.0859375, 103.974609375, 109.599609375, 57.041015625, -7.119140625, 9.426986694335938 ]
[ -6.943359375, 108.28125, 118.30078125, 57.65625, -6.6796875, 9.707113265991211 ]
3.3
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "so100",
    "total_episodes": 15,
    "total_frames": 6709,
    "total_tasks": 1,
    "total_videos": 15,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:15"
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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": {
        "action": {
            "dtype": "float32",
            "shape": [
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
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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": {
            "dtype": "video",
            "shape": [
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                640,
                3
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            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
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        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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