Datasets:
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observation.state list | action list | observation.ee_pose list | teleop.target_pose list | observation.force_torque list | timestamp float32 | frame_index int64 | episode_index int64 | index int64 | task_index int64 |
|---|---|---|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
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"
}
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