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This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "ur5",
"total_episodes": 34,
"total_frames": 5603,
"total_tasks": 1,
"total_videos": 102,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:34"
},
"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": {
"dtype": "float32",
"shape": [
12
],
"names": {
"motors": [
"j0",
"j1",
"j2",
"j3",
"j4",
"j5",
"fx",
"fy",
"fz",
"tx",
"ty",
"tz"
]
}
},
"action": {
"dtype": "float32",
"shape": [
3
],
"names": {
"displacement": [
"dx",
"dy",
"dz"
]
}
},
"observation.images.cam_front_view": {
"dtype": "video",
"shape": [
128,
128,
3
],
"names": [
"height",
"width",
"rgb"
],
"info": {
"video.fps": 10.0,
"video.height": 128,
"video.width": 128,
"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.cam_eye_in_hand": {
"dtype": "video",
"shape": [
128,
128,
3
],
"names": [
"height",
"width",
"rgb"
],
"info": {
"video.fps": 10.0,
"video.height": 128,
"video.width": 128,
"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.cam_side_view": {
"dtype": "video",
"shape": [
128,
128,
3
],
"names": [
"height",
"width",
"rgb"
],
"info": {
"video.fps": 10.0,
"video.height": 128,
"video.width": 128,
"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"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
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