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Datasets:
DORLR
/
ur5_real_robot_insertion

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
ur5
robotis
host:robotics-server-3
date:2026-05-20
platform:x86_64
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
xet
 Community
1
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timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
observation.state
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action
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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": "ur5",
    "total_episodes": 50,
    "total_frames": 29517,
    "total_tasks": 2,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:50"
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    "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": {
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        "observation.images.cam_wrist": {
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            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "libx264",
                "video.pix_fmt": "yuv420p"
            }
        },
        "observation.images.cam_side": {
            "dtype": "video",
            "names": [
                "height",
                "width",
                "channels"
            ],
            "shape": [
                720,
                1280,
                3
            ],
            "info": {
                "video.height": 720,
                "video.width": 1280,
                "video.channels": 3,
                "video.codec": "libx264",
                "video.pix_fmt": "yuv420p"
            }
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "shoulder_pan_joint",
                "shoulder_lift_joint",
                "elbow_joint",
                "wrist_1_joint",
                "wrist_2_joint",
                "wrist_3_joint",
                "robotiq_85_left_knuckle_joint"
            ],
            "shape": [
                7
            ]
        },
        "action": {
            "dtype": "float32",
            "names": [
                "shoulder_pan_joint",
                "shoulder_lift_joint",
                "elbow_joint",
                "wrist_1_joint",
                "wrist_2_joint",
                "wrist_3_joint",
                "robotiq_85_left_knuckle_joint"
            ],
            "shape": [
                7
            ]
        }
    },
    "tags": [
        "ur5",
        "robotis",
        "host:robotics-server-3",
        "date:2026-05-20",
        "platform:x86_64"
    ]
}

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