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Datasets:
anashoussaini
/
stack_ur5_robotiq

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
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+ ---
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+ license: apache-2.0
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+ task_categories:
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+ - robotics
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+ tags:
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+ - LeRobot
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+ configs:
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+ - config_name: default
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+ data_files: data/*/*.parquet
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+ ---
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+
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+ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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+
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+ ## Dataset Description
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+
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+
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+
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+ - **Homepage:** [More Information Needed]
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+ - **Paper:** [More Information Needed]
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+ - **License:** apache-2.0
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+
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+ ## Dataset Structure
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+
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+ [meta/info.json](meta/info.json):
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+ ```json
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+ {
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+ "codebase_version": "v3.0",
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+ "robot_type": null,
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+ "total_episodes": 100,
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+ "total_frames": 13209,
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+ "total_tasks": 1,
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+ "chunks_size": 1000,
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+ "data_files_size_in_mb": 100,
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+ "video_files_size_in_mb": 500,
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+ "fps": 20,
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+ "splits": {
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+ "train": "0:100"
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+ },
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+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
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+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
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+ "features": {
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+ "obs.state.gripper.grasp_tip_pos": {
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+ "dtype": "float32",
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+ "shape": [
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+ 6
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+ ]
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+ },
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+ "obs.state.gripper.pinch_min": {
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+ "dtype": "float32",
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+ "shape": [
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+ 1
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+ ]
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+ },
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+ "obs.state.gripper.pinch_widths": {
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+ "dtype": "float32",
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+ "shape": [
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+ 1
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+ ]
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+ },
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+ "obs.state.gripper.qpos": {
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+ "dtype": "float32",
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+ "shape": [
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+ 6
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+ ]
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+ },
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+ "obs.state.gripper.qtorque": {
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+ "dtype": "float32",
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+ "shape": [
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+ 6
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+ ]
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+ },
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+ "obs.state.gripper.qvel": {
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+ "dtype": "float32",
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+ "shape": [
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+ 6
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+ ]
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+ },
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+ "obs.state.gripper.tcp_pos": {
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+ "dtype": "float32",
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+ "shape": [
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+ 3
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+ ]
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+ },
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+ "obs.state.gripper.tcp_quat": {
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+ "dtype": "float32",
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+ "shape": [
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+ 4
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+ ]
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+ },
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+ "reward": {
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+ "dtype": "float32",
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+ "shape": [
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+ 1
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+ ]
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+ },
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+ "truncated": {
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+ "dtype": "bool",
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+ "shape": [
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+ 1
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+ ]
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+ },
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+ "success": {
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+ "dtype": "bool",
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+ "shape": [
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+ 1
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+ ]
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+ },
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+ "failure": {
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+ "dtype": "bool",
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+ "shape": [
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+ 1
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+ ]
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+ },
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+ "action": {
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+ "dtype": "float32",
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+ "shape": [
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+ 8
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+ ]
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+ },
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+ "obs.state.manipulator.eef_pos": {
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+ "dtype": "float32",
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+ "shape": [
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+ 1,
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+ 3
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+ ]
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+ },
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+ "obs.state.manipulator.eef_quat": {
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+ "dtype": "float32",
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+ "shape": [
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+ 1,
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+ 4
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+ ]
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+ },
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+ "obs.state.manipulator.qpos": {
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+ "dtype": "float32",
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+ "shape": [
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+ 6
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+ ]
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+ },
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+ "obs.state.manipulator.qtorque": {
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+ "dtype": "float32",
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+ "shape": [
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+ 6
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+ ]
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+ },
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+ "obs.state.manipulator.qvel": {
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+ "dtype": "float32",
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+ "shape": [
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+ 6
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+ ]
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+ },
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+ "obs.state.other.action": {
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+ "dtype": "float32",
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+ "shape": [
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+ 8
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+ ]
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+ },
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+ "obs.state.other.cube_a_pos": {
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+ "dtype": "float32",
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+ "shape": [
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+ 3
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+ ]
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+ },
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+ "obs.state.other.cube_a_quat": {
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+ "dtype": "float32",
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+ "shape": [
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+ 4
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+ ]
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+ },
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+ "obs.state.other.cube_b_pos": {
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+ "dtype": "float32",
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+ "shape": [
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+ 3
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+ ]
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+ },
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+ "obs.state.other.cube_b_quat": {
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+ "dtype": "float32",
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+ "shape": [
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+ 4
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+ ]
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+ },
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+ "obs.state.other.cube_c_pos": {
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+ "dtype": "float32",
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+ "shape": [
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+ 3
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+ ]
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+ },
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+ "obs.state.other.cube_c_quat": {
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+ "dtype": "float32",
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+ "shape": [
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+ 4
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+ ]
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+ },
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+ "obs.state.other.last_action": {
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+ "dtype": "float32",
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+ "shape": [
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+ 8
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+ ]
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+ },
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+ "obs.cameras.front.rgb": {
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+ "dtype": "video",
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+ "shape": [
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+ 224,
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+ 224,
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+ 3
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+ ],
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+ "info": {
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+ "video.height": 224,
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+ "video.width": 224,
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+ "video.codec": "av1",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "video.fps": 20,
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+ "video.channels": 3,
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+ "has_audio": false
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+ }
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+ },
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+ "obs.cameras.wrist.rgb": {
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+ "dtype": "video",
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+ "shape": [
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+ 224,
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+ 224,
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+ 3
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+ ],
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+ "info": {
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+ "video.height": 224,
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+ "video.width": 224,
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+ "video.codec": "av1",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "video.fps": 20,
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+ "video.channels": 3,
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+ "has_audio": false
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+ }
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+ },
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+ "timestamp": {
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+ "dtype": "float32",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "frame_index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "episode_index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "task_index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ }
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+ },
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+ "task": "stack",
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+ "options": null
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+ }
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+ ```
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+
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+
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+ ## Citation
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+
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+ **BibTeX:**
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+
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+ ```bibtex
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+ [More Information Needed]
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+ ```