README.md

metadata

license: apache-2.0
task_categories:
  - robotics
tags:
  - LeRobot
  - ur5
configs:
  - config_name: default
    data_files: data/*/*.parquet

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": null,
    "total_episodes": 130,
    "total_frames": 4435,
    "total_tasks": 36,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 15,
    "splits": {
        "train": "0:130"
    },
    "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": {
        "observation.image": {
            "dtype": "image",
            "shape": [3, 480, 640],
            "names": ["channels", "height", "width"]
        },
        "observation.wrist_image": {
            "dtype": "image",
            "shape": [3, 480, 640],
            "names": ["channels", "height", "width"]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [6],
            "names": ["q0", "q1", "q2", "q3", "q4", "q5"]
        },
        "action": {
            "dtype": "float32",
            "shape": [7],
            "names": ["tx", "ty", "tz", "rx", "ry", "rz", "gripper"]
        },
        "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
        }
    },
    "total_videos": 0,
    "total_chunks": 1
}