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Datasets:
hyzhang01
/
ur5_3finger_4tasks

Tasks:
Robotics
Modalities:
Image
Time-series
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
robotics
ur5
grasping
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
xet
 Community
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image
image
wrist_image
image
state
list
actions
list
gripper_id
int32
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
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This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "ur5",
    "total_episodes": 123,
    "total_frames": 24154,
    "total_tasks": 4,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 50,
    "splits": {
        "train": "0:123"
    },
    "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": {
        "image": {
            "dtype": "image",
            "shape": [
                224,
                224,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "wrist_image": {
            "dtype": "image",
            "shape": [
                224,
                224,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ]
        },
        "state": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "state"
            ]
        },
        "actions": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "actions"
            ]
        },
        "gripper_id": {
            "dtype": "int32",
            "shape": [
                1
            ],
            "names": [
                "gripper_id"
            ]
        },
        "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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