catheter_force_depth_eef

This dataset was created using LeRobot and is stored in the episode-split LeRobot v2.1 layout used by OpenPI.

Dataset Structure

The dataset uses parquet files for per-frame robot observations/actions and episode-split videos for camera streams.

meta/
  info.json
  tasks.jsonl
  episodes.jsonl
  stats.json
  episodes_stats.jsonl
data/
  chunk-000/
    episode_000000.parquet
videos/
  chunk-000/
    <video_key>/
      episode_000000.mp4

Tasks

• 0: Insert the gray cable into the rubber tube and push it down until the cable tip reaches the end.

Features

• observation.images.wrist: video, shape [480, 640, 3]
• observation.images.front: video, shape [480, 640, 3]
• observation.images.base: video, shape [480, 640, 3]
• observation.images.wrist_depth: video, shape [480, 640, 3]
• observation.images.front_depth: video, shape [480, 640, 3]
• observation.images.base_depth: video, shape [480, 640, 3]
• observation.state: float32, shape [7]
• action: float32, shape [7]
• observation.ee_pose: float32, shape [7]
• teleop.target_pose: float32, shape [7]
• observation.force_torque: float32, shape [6]
• timestamp: float32, shape [1]
• frame_index: int64, shape [1]
• episode_index: int64, shape [1]
• index: int64, shape [1]
• task_index: int64, shape [1]

Metadata

{
  "codebase_version": "v2.1",
  "robot_type": "ur5",
  "total_episodes": 100,
  "total_frames": 45255,
  "total_tasks": 1,
  "total_videos": 600,
  "total_chunks": 1,
  "chunks_size": 1000,
  "fps": 30,
  "splits": {
    "train": "0:100"
  },
  "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"
}