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This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": null,
"total_episodes": 181,
"total_frames": 360658,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 50,
"splits": {
"train": "0:181"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {
"observation.ur_tcp_pose": {
"dtype": "float32",
"shape": [
6
],
"names": [
"position.x",
"position.y",
"position.z",
"orientation.rx",
"orientation.ry",
"orientation.rz"
]
},
"observation.ur_tool_state": {
"dtype": "float32",
"shape": [
1
],
"names": [
"tool"
]
},
"observation.ur_wrench": {
"dtype": "float32",
"shape": [
6
],
"names": [
"force.x",
"force.y",
"force.z",
"torque.x",
"torque.y",
"torque.z"
]
},
"observation.images.side": {
"dtype": "video",
"shape": [
3,
300,
355
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.height": 300,
"video.width": 355,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 50,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.wrist_left": {
"dtype": "video",
"shape": [
3,
360,
270
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.height": 360,
"video.width": 270,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 50,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.wrist_right": {
"dtype": "video",
"shape": [
3,
360,
270
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.height": 360,
"video.width": 270,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 50,
"video.channels": 3,
"has_audio": false
}
},
"observation.ileader_tcp_pose": {
"dtype": "float32",
"shape": [
7
],
"names": [
"position.x",
"position.y",
"position.z",
"orientation.x",
"orientation.y",
"orientation.z",
"orientation.w"
]
},
"observation.ileader_buttons": {
"dtype": "float32",
"shape": [
4
],
"names": [
"sync",
"recording",
"discard",
"reset_env"
]
},
"observation.ileader_tool": {
"dtype": "float32",
"shape": [
1
],
"names": [
"value"
]
},
"action.command_for_ur": {
"dtype": "float32",
"shape": [
7
],
"names": [
"ur10e/tcp_position/position.x",
"ur10e/tcp_position/position.y",
"ur10e/tcp_position/position.z",
"ur10e/tcp_position/orientation.rx",
"ur10e/tcp_position/orientation.ry",
"ur10e/tcp_position/orientation.rz",
"ur10e/tool/tool"
]
},
"meta.t_target": {
"dtype": "float64",
"shape": [
1
],
"names": null
},
"meta.source_timestamps": {
"dtype": "float64",
"shape": [
10
],
"names": [
"observation.ur_tcp_pose",
"observation.ur_tool_state",
"observation.ur_wrench",
"observation.images.side",
"observation.images.wrist_left",
"observation.images.wrist_right",
"observation.ileader_tcp_pose",
"observation.ileader_buttons",
"observation.ileader_tool",
"action.command_for_ur"
]
},
"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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