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This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "ur5e",
"total_episodes": 1,
"total_frames": 381,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
"train": "0:1"
},
"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.state": {
"dtype": "float32",
"shape": [
7
],
"names": [
"shoulder_pan_joint",
"shoulder_lift_joint",
"elbow_joint",
"wrist_1_joint",
"wrist_2_joint",
"wrist_3_joint",
"gripper/left_finger_joint"
]
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": [
"shoulder_pan_joint",
"shoulder_lift_joint",
"elbow_joint",
"wrist_1_joint",
"wrist_2_joint",
"wrist_3_joint",
"gripper/left_finger_joint"
]
},
"observation.velocity": {
"dtype": "float32",
"shape": [
7
],
"names": [
"shoulder_pan_joint",
"shoulder_lift_joint",
"elbow_joint",
"wrist_1_joint",
"wrist_2_joint",
"wrist_3_joint",
"gripper/left_finger_joint"
]
},
"label.plug_pose_base": {
"dtype": "float32",
"shape": [
7
],
"names": null
},
"label.plug_pose_base_valid": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"label.port_pose_base": {
"dtype": "float32",
"shape": [
7
],
"names": null
},
"label.port_pose_base_valid": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"label.target_module_pose_base": {
"dtype": "float32",
"shape": [
7
],
"names": null
},
"label.target_module_pose_base_valid": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"label.tcp_pose": {
"dtype": "float32",
"shape": [
7
],
"names": null
},
"label.tcp_pose_valid": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"observation.images.cam_center": {
"dtype": "video",
"shape": [
1024,
1152,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 1024,
"video.width": 1152,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.cam_left": {
"dtype": "video",
"shape": [
1024,
1152,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 1024,
"video.width": 1152,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.cam_right": {
"dtype": "video",
"shape": [
1024,
1152,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 1024,
"video.width": 1152,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"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
}
}
}
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