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int64
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int64
index
int64
task_index
int64
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2.5
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2.6
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2.666667
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2.7
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2.766667
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2.8
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2.833333
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2.866667
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2.9
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3
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3.033333
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3.066667
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3.1
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3.133333
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3.166667
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3.2
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3.233333
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3.266667
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3.3
99
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End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "ur5",
    "total_episodes": 200,
    "total_frames": 137040,
    "total_tasks": 2,
    "total_videos": 1200,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:200"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "observation.state": {
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            "names": [
                "shoulder_pan_joint",
                "shoulder_lift_joint",
                "elbow_joint",
                "wrist_1_joint",
                "wrist_2_joint",
                "wrist_3_joint",
                "gripper"
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        },
        "action": {
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            "names": [
                "shoulder_pan_joint",
                "shoulder_lift_joint",
                "elbow_joint",
                "wrist_1_joint",
                "wrist_2_joint",
                "wrist_3_joint",
                "gripper"
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        "observation.images.wrist_right_rgb": {
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                "has_audio": false
            }
        },
        "observation.images.context_top_depth": {
            "dtype": "video",
            "shape": [
                3,
                480,
                640
            ],
            "names": [
                "channels",
                "height",
                "width"
            ],
            "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
            }
        },
        "observation.images.wrist_left_depth": {
            "dtype": "video",
            "shape": [
                3,
                480,
                640
            ],
            "names": [
                "channels",
                "height",
                "width"
            ],
            "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
            }
        },
        "observation.ee_pose": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "translation_x",
                "translation_y",
                "translation_z",
                "rotation_x",
                "rotation_y",
                "rotation_z",
                "rotation_w"
            ]
        },
        "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
        }
    },
    "conversion_metadata": {
        "source": "ROS2 bags",
        "converter_version": "v2.1_perfect_timestamps",
        "timestamp_format": "frame_index_based",
        "timestamp_generation": "Perfect FPS spacing using frame_index / fps",
        "timestamp_note": "Timestamps are mathematically perfect (i/30) for 30 FPS. Data synchronized via interpolation: joints use linear interpolation, images use nearest-neighbor within 0.5s, poses use SLERP.",
        "data_sync_tolerance": "0.5s for image nearest-neighbor matching",
        "validation_tolerance": "1e-4s (default strict validation)",
        "primary_camera": "context_top_rgb",
        "frame_rate": "30Hz"
    }
}

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