SIENA11111/ur_box_lid_assembly

This dataset was created using LeRobot.

Dataset Description

This is a UR robot dataset for box assembly task with the following features:

• 91 training episodes

• 17,106 total frames

• 15 FPS sampling rate

• 7-dimensional action space (6 joints + gripper)

• 31-dimensional state space:

  • Joint positions (6 joints + gripper)
  • TCP pose (position and orientation)
  • Joint velocities
  • TCP linear and angular velocities
  • TCP forces and torques

• Two camera views:

  • Head camera: 720x1280x3
  • Wrist camera: 720x1280x3

• Homepage: https://github.com/huggingface/lerobot

• Paper: [More Information Needed]

• License: apache-2.0

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "ur",
    "total_episodes": 140,
    "total_frames": 26286,
    "total_tasks": 1,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 15,
    "splits": {
        "train": "0:140"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": null,
    "features": {
        "action": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "joint_1",
                "joint_2",
                "joint_3",
                "joint_4",
                "joint_5",
                "joint_6",
                "gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                31
            ],
            "names": [
                "joint_1",
                "joint_2",
                "joint_3",
                "joint_4",
                "joint_5",
                "joint_6",
                "gripper",
                "tcp_x",
                "tcp_y",
                "tcp_z",
                "tcp_rx",
                "tcp_ry",
                "tcp_rz",
                "joint_vel_1",
                "joint_vel_2",
                "joint_vel_3",
                "joint_vel_4",
                "joint_vel_5",
                "joint_vel_6",
                "tcp_vel_x",
                "tcp_vel_y",
                "tcp_vel_z",
                "tcp_vel_rx",
                "tcp_vel_ry",
                "tcp_vel_rz",
                "tcp_force_x",
                "tcp_force_y",
                "tcp_force_z",
                "tcp_torque_x",
                "tcp_torque_y",
                "tcp_torque_z"
            ]
        },
        "observation.images.head": {
            "dtype": "image",
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": null
        },
        "observation.images.wrist": {
            "dtype": "image",
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": null
        },
        "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
        }
    }
}

Citation

BibTeX:

@misc{ur_box_lid_assembly,
    author = {SIENA11111},
    title = {UR Robot Box and Lid Assembly Dataset},
    year = {2024},
    publisher = {Hugging Face},
    journal = {Hugging Face Hub},
    howpublished = {\url{https://huggingface.co/datasets/SIENA11111/ur_box_lid_assembly}}
}