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Datasets:
Phy-lab
/
hrchung

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
< 1K
Tags:
LeRobot
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
xet
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1
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observation.state
list
action
list
observation.velocity
list
label.plug_pose_base
list
label.plug_pose_base_valid
bool
1 class
label.port_pose_base
list
label.port_pose_base_valid
bool
1 class
label.target_module_pose_base
list
label.target_module_pose_base_valid
bool
1 class
label.tcp_pose
list
label.tcp_pose_valid
bool
1 class
timestamp
float32
0
23.9
frame_index
int64
0
478
episode_index
int64
0
0
index
int64
0
478
task_index
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0
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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": "ur5e",
    "total_episodes": 1,
    "total_frames": 479,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "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": {
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            "shape": [
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            "names": [
                "shoulder_pan_joint",
                "shoulder_lift_joint",
                "elbow_joint",
                "wrist_1_joint",
                "wrist_2_joint",
                "wrist_3_joint",
                "gripper/left_finger_joint"
            ]
        },
        "action": {
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            "names": [
                "shoulder_pan_joint",
                "shoulder_lift_joint",
                "elbow_joint",
                "wrist_1_joint",
                "wrist_2_joint",
                "wrist_3_joint",
                "gripper/left_finger_joint"
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                "shoulder_lift_joint",
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                "wrist_1_joint",
                "wrist_2_joint",
                "wrist_3_joint",
                "gripper/left_finger_joint"
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        },
        "label.plug_pose_base": {
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            "names": null
        },
        "label.plug_pose_base_valid": {
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            "names": null
        },
        "label.port_pose_base": {
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            "names": null
        },
        "label.port_pose_base_valid": {
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            "names": null
        },
        "label.target_module_pose_base": {
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            "names": null
        },
        "label.target_module_pose_base_valid": {
            "dtype": "bool",
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            "names": null
        },
        "label.tcp_pose": {
            "dtype": "float32",
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            "names": null
        },
        "label.tcp_pose_valid": {
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        "observation.images.cam_center": {
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            "info": {
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                "video.width": 1152,
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        "observation.images.cam_left": {
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        "observation.images.cam_right": {
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            "info": {
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        },
        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        "task_index": {
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    }
}

Citation

BibTeX:

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