Datasets:
metadata
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
configs:
- config_name: default
data_files: data/*/*.parquet
This dataset was created using LeRobot.
Dataset Description
- Homepage: [More Information Needed]
- Paper: [More Information Needed]
- License: apache-2.0
Dataset Structure
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"shape": [
32
],
"names": [
"ur5e_0",
"ur5e_1",
"ur5e_2",
"ur5e_3",
"ur5e_4",
"ur5e_5",
"ur5e_0_vel",
"ur5e_1_vel",
"ur5e_2_vel",
"ur5e_3_vel",
"ur5e_4_vel",
"ur5e_5_vel",
"dg5f_0",
"dg5f_1",
"dg5f_2",
"dg5f_3",
"dg5f_4",
"dg5f_5",
"dg5f_6",
"dg5f_7",
"dg5f_8",
"dg5f_9",
"dg5f_10",
"dg5f_11",
"dg5f_12",
"dg5f_13",
"dg5f_14",
"dg5f_15",
"dg5f_16",
"dg5f_17",
"dg5f_18",
"dg5f_19"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
26
],
"names": [
"ur5e_0",
"ur5e_1",
"ur5e_2",
"ur5e_3",
"ur5e_4",
"ur5e_5",
"dg5f_0",
"dg5f_1",
"dg5f_2",
"dg5f_3",
"dg5f_4",
"dg5f_5",
"dg5f_6",
"dg5f_7",
"dg5f_8",
"dg5f_9",
"dg5f_10",
"dg5f_11",
"dg5f_12",
"dg5f_13",
"dg5f_14",
"dg5f_15",
"dg5f_16",
"dg5f_17",
"dg5f_18",
"dg5f_19"
]
},
"observation.velocity": {
"dtype": "float32",
"shape": [
26
],
"names": [
"ur5e_0",
"ur5e_1",
"ur5e_2",
"ur5e_3",
"ur5e_4",
"ur5e_5",
"dg5f_0",
"dg5f_1",
"dg5f_2",
"dg5f_3",
"dg5f_4",
"dg5f_5",
"dg5f_6",
"dg5f_7",
"dg5f_8",
"dg5f_9",
"dg5f_10",
"dg5f_11",
"dg5f_12",
"dg5f_13",
"dg5f_14",
"dg5f_15",
"dg5f_16",
"dg5f_17",
"dg5f_18",
"dg5f_19"
]
},
"observation.effort": {
"dtype": "float32",
"shape": [
26
],
"names": [
"ur5e_0",
"ur5e_1",
"ur5e_2",
"ur5e_3",
"ur5e_4",
"ur5e_5",
"dg5f_0",
"dg5f_1",
"dg5f_2",
"dg5f_3",
"dg5f_4",
"dg5f_5",
"dg5f_6",
"dg5f_7",
"dg5f_8",
"dg5f_9",
"dg5f_10",
"dg5f_11",
"dg5f_12",
"dg5f_13",
"dg5f_14",
"dg5f_15",
"dg5f_16",
"dg5f_17",
"dg5f_18",
"dg5f_19"
]
},
"observation.images.realsense1": {
"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,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {}
}
},
"observation.images.realsense2": {
"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,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {}
}
},
"observation.images.gelsight1": {
"dtype": "video",
"shape": [
375,
500,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 375,
"video.width": 500,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {}
}
},
"observation.images.gelsight2": {
"dtype": "video",
"shape": [
375,
500,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 375,
"video.width": 500,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {}
}
},
"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_episodes": 30,
"total_frames": 60275,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"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",
"robot_type": "dg5f_ur5e",
"splits": {
"train": "0:30"
}
}
Citation
BibTeX:
[More Information Needed]