Datasets:
105 episodes · 50 fps · 3 cameras · 640×480 h264
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "dual_ur",
"total_episodes": 105,
"total_frames": 67585,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 50,
"splits": {
"train": "0:105"
},
"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": {
"action": {
"dtype": "float32",
"names": [
"left_pose_x.pos",
"left_pose_y.pos",
"left_pose_z.pos",
"left_pose_x.quat",
"left_pose_y.quat",
"left_pose_z.quat",
"left_pose_w.quat",
"left_wrench_x.force",
"left_wrench_y.force",
"left_wrench_z.force",
"left_wrench_x.torque",
"left_wrench_y.torque",
"left_wrench_z.torque",
"left_gripper.pos",
"right_pose_x.pos",
"right_pose_y.pos",
"right_pose_z.pos",
"right_pose_x.quat",
"right_pose_y.quat",
"right_pose_z.quat",
"right_pose_w.quat",
"right_wrench_x.force",
"right_wrench_y.force",
"right_wrench_z.force",
"right_wrench_x.torque",
"right_wrench_y.torque",
"right_wrench_z.torque",
"right_gripper.pos"
],
"shape": [
28
]
},
"observation.state": {
"dtype": "float32",
"names": [
"left_pose_x.pos",
"left_pose_y.pos",
"left_pose_z.pos",
"left_pose_x.quat",
"left_pose_y.quat",
"left_pose_z.quat",
"left_pose_w.quat",
"left_wrench_x.force",
"left_wrench_y.force",
"left_wrench_z.force",
"left_wrench_x.torque",
"left_wrench_y.torque",
"left_wrench_z.torque",
"left_gripper.pos",
"left_shoulder_pan_joint.pos",
"left_shoulder_lift_joint.pos",
"left_elbow_joint.pos",
"left_wrist_1_joint.pos",
"left_wrist_2_joint.pos",
"left_wrist_3_joint.pos",
"right_pose_x.pos",
"right_pose_y.pos",
"right_pose_z.pos",
"right_pose_x.quat",
"right_pose_y.quat",
"right_pose_z.quat",
"right_pose_w.quat",
"right_wrench_x.force",
"right_wrench_y.force",
"right_wrench_z.force",
"right_wrench_x.torque",
"right_wrench_y.torque",
"right_wrench_z.torque",
"right_gripper.pos",
"right_shoulder_pan_joint.pos",
"right_shoulder_lift_joint.pos",
"right_elbow_joint.pos",
"right_wrist_1_joint.pos",
"right_wrist_2_joint.pos",
"right_wrist_3_joint.pos"
],
"shape": [
40
]
},
"observation.images.left_wrist": {
"dtype": "video",
"shape": [
512,
512,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 512,
"video.width": 512,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 50,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.right_wrist": {
"dtype": "video",
"shape": [
512,
512,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 512,
"video.width": 512,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 50,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.base": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 50,
"video.channels": 3,
"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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