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Datasets:
ns69956
/
ur5e_scanner2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
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1
- ---
2
- license: apache-2.0
3
- task_categories:
4
- - robotics
5
- tags:
6
- - LeRobot
7
- configs:
8
- - config_name: default
9
- data_files: data/*/*.parquet
10
- ---
11
-
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-
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- This dataset was created using [LeRobot](https://github.com/huggingface/lerobot) format.
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-
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- ## Dataset Structure
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- ```json
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- {
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- "codebase_version": "v2.1",
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- "robot_type": "ur5e",
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- "total_episodes": 50,
21
- "total_frames": 24200,
22
- "total_tasks": 2,
23
- "total_videos": 100,
24
- "total_chunks": 1,
25
- "chunks_size": 1000,
26
- "fps": 30,
27
- "splits": {
28
- "train": "0:44",
29
- "val" : "45:49"
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- },
31
- "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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- "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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- "features": {
34
- "observation.images.scene_image": {
35
- "dtype": "video",
36
- "shape": [
37
- 480,
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- 640,
39
- 3
40
- ],
41
- "names": [
42
- "height",
43
- "width",
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- "channel"
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- ],
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- "info": {
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- "video.fps": 30.0,
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- "video.codec": "av1",
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- "video.pix_fmt": "yuv420p",
50
- "video.is_depth_map": false,
51
- "has_audio": false
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- }
53
- },
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- "observation.images.wrist_image": {
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- "dtype": "video",
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- "shape": [
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- 480,
58
- 640,
59
- 3
60
- ],
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- "names": [
62
- "height",
63
- "width",
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- "channel"
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- ],
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- "info": {
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- "video.fps": 30.0,
68
- "video.codec": "av1",
69
- "video.pix_fmt": "yuv420p",
70
- "video.is_depth_map": false,
71
- "has_audio": false
72
- }
73
- },
74
- "observation.state": {
75
- "dtype": "float32",
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- "shape": [
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- 8
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- ],
79
- "names": [
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- "x",
81
- "y",
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- "z",
83
- "rx",
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- "ry",
85
- "rz",
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- "scanner_state",
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- "gripper_state"
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- ]
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- },
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- "action": {
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- "dtype": "float32",
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- "shape": [
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- 8
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- ],
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- "names": [
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- "x",
97
- "y",
98
- "z",
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- "rx",
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- "ry",
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- "rz",
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- "scanner_state",
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- "gripper_state"
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- ]
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- },
106
- "timestamp": {
107
- "dtype": "float32",
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- "shape": [
109
- 1
110
- ],
111
- "names": null
112
- },
113
- "episode_index": {
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- "dtype": "int64",
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- "shape": [
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- 1
117
- ],
118
- "names": null
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- },
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- "frame_index": {
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- "dtype": "int64",
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- "shape": [
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- 1
124
- ],
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- "names": null
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- },
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-
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- "next.done": {
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- "dtype": "bool",
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- "shape": [
131
- 1
132
- ],
133
- "names": null
134
- },
135
- "index": {
136
- "dtype": "int64",
137
- "shape": [
138
- 1
139
- ],
140
- "names": null
141
- },
142
- "task_index": {
143
- "dtype": "int64",
144
- "shape": [
145
- 1
146
- ],
147
- "names": null
148
- }
149
- }
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- }
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- ```
 
 
1
+ ---
2
+ license: apache-2.0
3
+ task_categories:
4
+ - robotics
5
+ tags:
6
+ - LeRobot
7
+ configs:
8
+ - config_name: default
9
+ data_files: data/*/*.parquet
10
+ ---
11
+
12
+
13
+ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot) format.
14
+
15
+ ## Dataset Structure
16
+ ```json
17
+ {
18
+ "codebase_version": "v2.1",
19
+ "robot_type": "ur5e",
20
+ "total_episodes": 50,
21
+ "total_frames": 24200,
22
+ "total_tasks": 2,
23
+ "total_videos": 100,
24
+ "total_chunks": 1,
25
+ "chunks_size": 1000,
26
+ "fps": 30,
27
+ "splits": {
28
+ "train": "0:39",
29
+ "val": "40:44",
30
+ "test" : "45:49"
31
+ },
32
+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
33
+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
34
+ "features": {
35
+ "observation.images.scene_image": {
36
+ "dtype": "video",
37
+ "shape": [
38
+ 480,
39
+ 640,
40
+ 3
41
+ ],
42
+ "names": [
43
+ "height",
44
+ "width",
45
+ "channel"
46
+ ],
47
+ "info": {
48
+ "video.fps": 30.0,
49
+ "video.codec": "av1",
50
+ "video.pix_fmt": "yuv420p",
51
+ "video.is_depth_map": false,
52
+ "has_audio": false
53
+ }
54
+ },
55
+ "observation.images.wrist_image": {
56
+ "dtype": "video",
57
+ "shape": [
58
+ 480,
59
+ 640,
60
+ 3
61
+ ],
62
+ "names": [
63
+ "height",
64
+ "width",
65
+ "channel"
66
+ ],
67
+ "info": {
68
+ "video.fps": 30.0,
69
+ "video.codec": "av1",
70
+ "video.pix_fmt": "yuv420p",
71
+ "video.is_depth_map": false,
72
+ "has_audio": false
73
+ }
74
+ },
75
+ "observation.state": {
76
+ "dtype": "float32",
77
+ "shape": [
78
+ 8
79
+ ],
80
+ "names": [
81
+ "x",
82
+ "y",
83
+ "z",
84
+ "rx",
85
+ "ry",
86
+ "rz",
87
+ "scanner_state",
88
+ "gripper_state"
89
+ ]
90
+ },
91
+ "action": {
92
+ "dtype": "float32",
93
+ "shape": [
94
+ 8
95
+ ],
96
+ "names": [
97
+ "x",
98
+ "y",
99
+ "z",
100
+ "rx",
101
+ "ry",
102
+ "rz",
103
+ "scanner_state",
104
+ "gripper_state"
105
+ ]
106
+ },
107
+ "timestamp": {
108
+ "dtype": "float32",
109
+ "shape": [
110
+ 1
111
+ ],
112
+ "names": null
113
+ },
114
+ "episode_index": {
115
+ "dtype": "int64",
116
+ "shape": [
117
+ 1
118
+ ],
119
+ "names": null
120
+ },
121
+ "frame_index": {
122
+ "dtype": "int64",
123
+ "shape": [
124
+ 1
125
+ ],
126
+ "names": null
127
+ },
128
+
129
+ "next.done": {
130
+ "dtype": "bool",
131
+ "shape": [
132
+ 1
133
+ ],
134
+ "names": null
135
+ },
136
+ "index": {
137
+ "dtype": "int64",
138
+ "shape": [
139
+ 1
140
+ ],
141
+ "names": null
142
+ },
143
+ "task_index": {
144
+ "dtype": "int64",
145
+ "shape": [
146
+ 1
147
+ ],
148
+ "names": null
149
+ }
150
+ }
151
+ }
152
+ ```