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demo_sorbonne_pick_and_place_green_cube

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
so100
tutorial
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action
sequence
observation.state
sequence
timestamp
float32
0
15.7
frame_index
int64
0
470
episode_index
int64
0
2
index
int64
0
1.26k
task_index
int64
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[ 18.896484375, 120.498046875, 131.923828125, 58.974609375, -29.794921875, 23.823110580444336 ]
2.4
72
0
72
0
[ 19.51171875, 120.234375, 128.759765625, 58.095703125, -29.794921875, 24.406780242919922 ]
[ 18.896484375, 119.970703125, 131.66015625, 58.623046875, -29.70703125, 23.823110580444336 ]
2.433333
73
0
73
0
[ 19.423828125, 119.970703125, 129.0234375, 57.744140625, -29.794921875, 24.237287521362305 ]
[ 18.984375, 119.70703125, 131.484375, 58.447265625, -29.443359375, 23.823110580444336 ]
2.466667
74
0
74
0
[ 19.3359375, 119.794921875, 129.375, 57.216796875, -29.70703125, 24.06779670715332 ]
[ 19.16015625, 119.35546875, 131.484375, 58.271484375, -29.267578125, 23.823110580444336 ]
2.5
75
0
75
0
[ 19.3359375, 119.53125, 129.638671875, 56.865234375, -29.619140625, 24.06779670715332 ]
[ 19.248046875, 118.916015625, 131.484375, 57.83203125, -29.1796875, 23.823110580444336 ]
2.533333
76
0
76
0
[ 19.3359375, 119.267578125, 129.814453125, 56.6015625, -29.619140625, 23.983051300048828 ]
[ 19.3359375, 118.740234375, 131.484375, 57.568359375, -29.091796875, 23.823110580444336 ]
2.566667
77
0
77
0
[ 19.3359375, 119.00390625, 130.078125, 56.25, -29.53125, 23.898305892944336 ]
[ 19.3359375, 118.564453125, 131.484375, 57.041015625, -29.091796875, 23.823110580444336 ]
2.6
78
0
78
0
[ 19.3359375, 118.828125, 130.341796875, 56.07421875, -29.53125, 23.81355857849121 ]
[ 19.3359375, 118.564453125, 131.484375, 56.77734375, -29.091796875, 23.609128952026367 ]
2.633333
79
0
79
0
[ 19.16015625, 118.65234375, 130.4296875, 55.986328125, -29.53125, 23.81355857849121 ]
[ 19.3359375, 118.30078125, 131.484375, 56.6015625, -29.091796875, 23.323823928833008 ]
2.666667
80
0
80
0
[ 19.072265625, 118.564453125, 130.78125, 55.72265625, -29.443359375, 23.81355857849121 ]
[ 19.248046875, 117.7734375, 131.484375, 56.337890625, -29.091796875, 23.25249671936035 ]
2.7
81
0
81
0
[ 18.984375, 118.564453125, 131.1328125, 55.458984375, -29.443359375, 23.81355857849121 ]
[ 19.16015625, 117.59765625, 131.484375, 55.986328125, -29.091796875, 23.10984230041504 ]
2.733333
82
0
82
0
[ 18.80859375, 118.564453125, 131.484375, 55.283203125, -29.443359375, 23.81355857849121 ]
[ 19.072265625, 117.509765625, 131.484375, 55.634765625, -29.091796875, 23.10984230041504 ]
2.766667
83
0
83
0
[ 18.45703125, 118.564453125, 131.748046875, 55.1953125, -29.35546875, 23.81355857849121 ]
[ 18.896484375, 117.509765625, 131.66015625, 55.458984375, -29.091796875, 23.10984230041504 ]
2.8
84
0
84
0
[ 18.28125, 118.65234375, 132.099609375, 55.01953125, -29.267578125, 23.898305892944336 ]
[ 18.6328125, 117.509765625, 131.66015625, 55.37109375, -29.091796875, 23.10984230041504 ]
2.833333
85
0
85
0
[ 18.017578125, 118.828125, 132.36328125, 54.931640625, -29.1796875, 23.898305892944336 ]
[ 18.193359375, 117.509765625, 131.8359375, 55.37109375, -29.091796875, 23.10984230041504 ]
2.866667
86
0
86
0
[ 17.841796875, 118.828125, 132.5390625, 54.84375, -29.091796875, 23.898305892944336 ]
[ 17.9296875, 117.509765625, 132.36328125, 55.37109375, -29.091796875, 23.10984230041504 ]
2.9
87
0
87
0
[ 17.666015625, 118.916015625, 132.802734375, 54.755859375, -28.916015625, 23.898305892944336 ]
[ 17.75390625, 117.509765625, 132.5390625, 55.01953125, -29.091796875, 23.10984230041504 ]
2.933333
88
0
88
0
[ 17.40234375, 118.916015625, 132.978515625, 54.580078125, -28.828125, 23.898305892944336 ]
[ 17.75390625, 117.509765625, 132.626953125, 54.755859375, -28.916015625, 23.10984230041504 ]
2.966667
89
0
89
0
[ 17.2265625, 118.916015625, 133.154296875, 54.4921875, -28.65234375, 23.898305892944336 ]
[ 17.578125, 117.509765625, 132.71484375, 54.4921875, -28.564453125, 23.10984230041504 ]
3
90
0
90
0
[ 17.138671875, 119.00390625, 133.330078125, 54.4921875, -28.564453125, 23.898305892944336 ]
[ 17.40234375, 117.509765625, 132.802734375, 54.404296875, -28.388671875, 23.10984230041504 ]
3.033333
91
0
91
0
[ 17.05078125, 119.091796875, 133.505859375, 54.404296875, -28.388671875, 23.898305892944336 ]
[ 17.05078125, 117.509765625, 133.2421875, 54.31640625, -28.212890625, 23.10984230041504 ]
3.066667
92
0
92
0
[ 16.962890625, 119.1796875, 133.681640625, 54.31640625, -28.30078125, 23.898305892944336 ]
[ 16.787109375, 117.509765625, 133.505859375, 54.31640625, -28.212890625, 23.10984230041504 ]
3.1
93
0
93
0
[ 16.875, 119.1796875, 133.857421875, 54.228515625, -28.212890625, 23.81355857849121 ]
[ 16.611328125, 117.509765625, 133.59375, 54.228515625, -28.212890625, 23.10984230041504 ]
3.133333
94
0
94
0
[ 16.69921875, 119.1796875, 134.208984375, 54.052734375, -28.212890625, 23.72881317138672 ]
[ 16.5234375, 117.509765625, 133.59375, 54.228515625, -28.212890625, 23.10984230041504 ]
3.166667
95
0
95
0
[ 16.5234375, 119.1796875, 134.6484375, 53.7890625, -28.125, 23.644067764282227 ]
[ 16.435546875, 117.509765625, 133.9453125, 54.228515625, -28.212890625, 23.10984230041504 ]
3.2
96
0
96
0
[ 16.5234375, 119.1796875, 135, 53.4375, -28.037109375, 23.559322357177734 ]
[ 16.34765625, 117.509765625, 134.296875, 54.228515625, -28.212890625, 23.10984230041504 ]
3.233333
97
0
97
0
[ 16.435546875, 119.267578125, 135.439453125, 53.173828125, -27.94921875, 23.389829635620117 ]
[ 16.259765625, 117.509765625, 134.82421875, 53.876953125, -28.212890625, 23.10984230041504 ]
3.266667
98
0
98
0
[ 16.34765625, 119.267578125, 135.703125, 52.91015625, -27.94921875, 22.711864471435547 ]
[ 16.171875, 117.509765625, 135.3515625, 53.61328125, -28.125, 23.10984230041504 ]
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": "so100",
    "total_episodes": 3,
    "total_frames": 1256,
    "total_tasks": 1,
    "total_videos": 6,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
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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_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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        "frame_index": {
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        "episode_index": {
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    }
}

Citation

BibTeX:

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