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Datasets:
NONHUMAN-RESEARCH
/
ISAAC-GR00T-V2-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
0
89
index
int64
0
40.2k
task_index
int64
0
2
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[ 16.611328125, 128.056640625, 119.443359375, 70.48828125, 2.197265625, 0.6993007063865662 ]
2.5
75
0
75
0
[ 15.8203125, 122.6953125, 110.830078125, 70.576171875, 3.33984375, 0 ]
[ 16.611328125, 126.474609375, 118.037109375, 70.48828125, 2.4609375, 0.6993007063865662 ]
2.533333
76
0
76
0
[ 15.556640625, 121.728515625, 110.21484375, 70.48828125, 3.603515625, 0 ]
[ 16.611328125, 125.068359375, 116.89453125, 70.48828125, 2.8125, 0.6993007063865662 ]
2.566667
77
0
77
0
[ 15.29296875, 120.76171875, 109.775390625, 70.048828125, 3.779296875, 0 ]
[ 16.611328125, 123.75, 115.751953125, 70.48828125, 3.076171875, 0.6993007063865662 ]
2.6
78
0
78
0
[ 14.94140625, 119.794921875, 109.423828125, 69.697265625, 3.955078125, 0.0917431190609932 ]
[ 16.611328125, 122.51953125, 114.873046875, 70.48828125, 3.33984375, 0.6993007063865662 ]
2.633333
79
0
79
0
[ 14.677734375, 118.828125, 108.984375, 69.345703125, 4.130859375, 0.0917431190609932 ]
[ 16.34765625, 121.376953125, 114.08203125, 70.48828125, 3.515625, 0.6993007063865662 ]
2.666667
80
0
80
0
[ 14.4140625, 117.861328125, 108.80859375, 68.642578125, 4.21875, 0.0917431190609932 ]
[ 15.908203125, 120.322265625, 113.466796875, 70.48828125, 3.69140625, 0.6993007063865662 ]
2.7
81
0
81
0
[ 14.150390625, 116.71875, 108.369140625, 68.203125, 4.21875, 0.0917431190609932 ]
[ 15.46875, 119.267578125, 112.939453125, 70.13671875, 3.955078125, 0.6993007063865662 ]
2.733333
82
0
82
0
[ 13.974609375, 115.48828125, 107.841796875, 67.8515625, 3.955078125, 0.0917431190609932 ]
[ 15.029296875, 118.125, 112.5, 69.521484375, 4.04296875, 0.6993007063865662 ]
2.766667
83
0
83
0
[ 13.88671875, 114.2578125, 107.2265625, 67.5, 3.779296875, 0.0917431190609932 ]
[ 14.765625, 117.0703125, 112.060546875, 69.08203125, 4.130859375, 0.6993007063865662 ]
2.8
84
0
84
0
[ 13.798828125, 113.291015625, 106.69921875, 67.1484375, 3.603515625, 0.0917431190609932 ]
[ 14.501953125, 115.927734375, 111.62109375, 68.642578125, 4.130859375, 0.6993007063865662 ]
2.833333
85
0
85
0
[ 13.798828125, 112.412109375, 106.171875, 66.97265625, 3.515625, 0.0917431190609932 ]
[ 14.23828125, 114.697265625, 111.09375, 68.203125, 4.130859375, 0.6993007063865662 ]
2.866667
86
0
86
0
[ 13.798828125, 111.884765625, 105.8203125, 66.884765625, 3.515625, 0.0917431190609932 ]
[ 14.150390625, 113.5546875, 110.56640625, 67.8515625, 4.130859375, 0.6993007063865662 ]
2.9
87
0
87
0
[ 13.798828125, 111.4453125, 105.380859375, 66.884765625, 3.515625, 0.0917431190609932 ]
[ 14.0625, 112.5, 110.126953125, 67.67578125, 4.130859375, 0.6993007063865662 ]
2.933333
88
0
88
0
[ 13.88671875, 111.005859375, 105.1171875, 66.884765625, 3.69140625, 0.0917431190609932 ]
[ 14.0625, 111.708984375, 109.599609375, 67.5, 4.130859375, 0.6993007063865662 ]
2.966667
89
0
89
0
[ 13.88671875, 110.654296875, 104.853515625, 66.884765625, 4.130859375, 0.0917431190609932 ]
[ 14.0625, 111.09375, 109.16015625, 67.412109375, 4.130859375, 0.6993007063865662 ]
3
90
0
90
0
[ 13.974609375, 110.302734375, 104.677734375, 66.884765625, 4.482421875, 0.0917431190609932 ]
[ 14.0625, 110.7421875, 108.896484375, 67.32421875, 4.130859375, 0.6993007063865662 ]
3.033333
91
0
91
0
[ 13.974609375, 109.86328125, 104.58984375, 66.884765625, 4.921875, 0.1834862381219864 ]
[ 14.0625, 110.390625, 108.45703125, 67.32421875, 4.130859375, 0.6993007063865662 ]
3.066667
92
0
92
0
[ 13.974609375, 109.51171875, 104.501953125, 67.060546875, 5.44921875, 0.8256880640983582 ]
[ 14.0625, 109.951171875, 108.193359375, 67.32421875, 4.130859375, 0.6993007063865662 ]
3.1
93
0
93
0
[ 13.974609375, 109.16015625, 104.326171875, 67.412109375, 5.9765625, 2.3853211402893066 ]
[ 14.0625, 109.423828125, 107.9296875, 67.32421875, 4.482421875, 0.6993007063865662 ]
3.133333
94
0
94
0
[ 13.798828125, 108.720703125, 104.150390625, 67.763671875, 6.240234375, 4.770642280578613 ]
[ 14.0625, 108.984375, 107.75390625, 67.32421875, 4.921875, 0.6993007063865662 ]
3.166667
95
0
95
0
[ 13.7109375, 108.369140625, 104.0625, 68.02734375, 6.416015625, 7.15596342086792 ]
[ 14.0625, 108.6328125, 107.578125, 67.32421875, 5.361328125, 0.7770007848739624 ]
3.2
96
0
96
0
[ 13.53515625, 108.10546875, 104.0625, 68.291015625, 6.6796875, 10.091743469238281 ]
[ 14.0625, 108.28125, 107.490234375, 67.412109375, 5.712890625, 2.5641026496887207 ]
3.233333
97
0
97
0
[ 13.359375, 107.9296875, 104.23828125, 68.5546875, 7.03125, 13.027523040771484 ]
[ 14.0625, 107.841796875, 107.314453125, 67.763671875, 6.064453125, 3.4965035915374756 ]
3.266667
98
0
98
0
[ 13.271484375, 107.841796875, 104.501953125, 68.73046875, 7.646484375, 15.779816627502441 ]
[ 14.0625, 107.490234375, 107.314453125, 68.115234375, 6.328125, 5.67210578918457 ]
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": 30,
    "total_frames": 13419,
    "total_tasks": 1,
    "total_videos": 30,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:30"
    },
    "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": [
                6
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.laptop": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "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
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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