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Datasets:
johnsutor
/
MuJoCoPickAndPlace-v1

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
Libraries:
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pandas
Polars
License:
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action
list
observation.state
list
observation.environment_state
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reward
float32
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1
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done
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float32
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reward_components.grasping
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reward_components.task_objective
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reward_components.completion_bonus
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reward_components.action_delta_penalty
float32
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reward_components.energy_penalty
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timestamp
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frame_index
int64
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episode_index
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index
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[ 0.6873878836631775, -1.7452150583267212, 1.6200153827667236, 0.7287697792053223, -1.3886085748672485, -0.15845264494419098, -0.000034318807593081146, -0.008064075373113155, -0.1431145817041397, -1.056546926498413, 0.004744627047330141, 0.008161592297255993, 0.16968263685703278, -0.12307498...
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End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "so101",
    "total_episodes": 10,
    "total_frames": 4725,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:10"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ]
        },
        "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
            }
        },
        "observation.images.overhead": {
            "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
            }
        },
        "observation.environment_state": {
            "dtype": "float32",
            "shape": [
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            ],
            "names": [
                "joint_positions_0",
                "joint_positions_1",
                "joint_positions_2",
                "joint_positions_3",
                "joint_positions_4",
                "joint_positions_5",
                "joint_velocities_0",
                "joint_velocities_1",
                "joint_velocities_2",
                "joint_velocities_3",
                "joint_velocities_4",
                "joint_velocities_5",
                "end_effector_pose_0",
                "end_effector_pose_1",
                "end_effector_pose_2",
                "end_effector_pose_3",
                "end_effector_pose_4",
                "end_effector_pose_5",
                "end_effector_pose_6",
                "grasp_state_0",
                "target_position_0",
                "target_position_1",
                "target_position_2",
                "object_pose_0",
                "object_pose_1",
                "object_pose_2",
                "object_pose_3",
                "object_pose_4",
                "object_pose_5",
                "object_pose_6",
                "object_offset_0",
                "object_offset_1",
                "object_offset_2",
                "target_offset_0",
                "target_offset_1",
                "target_offset_2"
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        },
        "reward": {
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        "success": {
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        "done": {
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        },
        "reward_components.reaching": {
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            "names": null
        },
        "reward_components.grasping": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "reward_components.task_objective": {
            "dtype": "float32",
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                1
            ],
            "names": null
        },
        "reward_components.completion_bonus": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "reward_components.action_delta_penalty": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "reward_components.energy_penalty": {
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                1
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            "names": null
        },
        "timestamp": {
            "dtype": "float32",
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            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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                1
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            "names": null
        },
        "episode_index": {
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            ],
            "names": null
        },
        "index": {
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        },
        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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