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Datasets:
ns69956
/
ur5e_scanner_joint_TEST

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
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1
- ---
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- license: apache-2.0
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- task_categories:
4
- - robotics
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- tags:
6
- - LeRobot
7
- configs:
8
- - config_name: default
9
- data_files: data/*/*.parquet
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- ---
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-
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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,
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- "chunks_size": 1000,
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- "fps": 30,
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- "splits": {
28
- "train": "0:44",
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- "val" : "45:49"
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- },
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- "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",
33
- "features": {
34
- "observation.images.scene_image": {
35
- "dtype": "video",
36
- "shape": [
37
- 480,
38
- 640,
39
- 3
40
- ],
41
- "names": [
42
- "height",
43
- "width",
44
- "channel"
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- ],
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- "info": {
47
- "video.fps": 30.0,
48
- "video.codec": "av1",
49
- "video.pix_fmt": "yuv420p",
50
- "video.is_depth_map": false,
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- "has_audio": false
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- }
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- },
54
- "observation.images.wrist_image": {
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- "dtype": "video",
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- "shape": [
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- 480,
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- 640,
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- 3
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- ],
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- "names": [
62
- "height",
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- "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",
76
- "shape": [
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- 8
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- ],
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- "names": [
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- "x",
81
- "y",
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- "z",
83
- "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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- },
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- "action": {
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- "dtype": "float32",
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- "shape": [
93
- 8
94
- ],
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- "names": [
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- "x",
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- "y",
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- "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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- },
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- "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
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- ],
118
- "names": null
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- },
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- "frame_index": {
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- "dtype": "int64",
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- "shape": [
123
- 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
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- },
142
- "task_index": {
143
- "dtype": "int64",
144
- "shape": [
145
- 1
146
- ],
147
- "names": null
148
- }
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- }
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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": 5,
21
+ "total_frames": 4951,
22
+ "total_tasks": 2,
23
+ "total_videos": 10,
24
+ "total_chunks": 1,
25
+ "chunks_size": 1000,
26
+ "fps": 30,
27
+ "splits": {
28
+ "val" : "0:4"
29
+ },
30
+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
31
+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
32
+ "features": {
33
+ "observation.images.scene_image": {
34
+ "dtype": "video",
35
+ "shape": [
36
+ 480,
37
+ 640,
38
+ 3
39
+ ],
40
+ "names": [
41
+ "height",
42
+ "width",
43
+ "channel"
44
+ ],
45
+ "info": {
46
+ "video.fps": 30.0,
47
+ "video.codec": "av1",
48
+ "video.pix_fmt": "yuv420p",
49
+ "video.is_depth_map": false,
50
+ "has_audio": false
51
+ }
52
+ },
53
+ "observation.images.wrist_image": {
54
+ "dtype": "video",
55
+ "shape": [
56
+ 480,
57
+ 640,
58
+ 3
59
+ ],
60
+ "names": [
61
+ "height",
62
+ "width",
63
+ "channel"
64
+ ],
65
+ "info": {
66
+ "video.fps": 30.0,
67
+ "video.codec": "av1",
68
+ "video.pix_fmt": "yuv420p",
69
+ "video.is_depth_map": false,
70
+ "has_audio": false
71
+ }
72
+ },
73
+ "observation.state": {
74
+ "dtype": "float32",
75
+ "shape": [
76
+ 8
77
+ ],
78
+ "names": [
79
+ "x",
80
+ "y",
81
+ "z",
82
+ "rx",
83
+ "ry",
84
+ "rz",
85
+ "scanner_state",
86
+ "gripper_state"
87
+ ]
88
+ },
89
+ "action": {
90
+ "dtype": "float32",
91
+ "shape": [
92
+ 8
93
+ ],
94
+ "names": [
95
+ "x",
96
+ "y",
97
+ "z",
98
+ "rx",
99
+ "ry",
100
+ "rz",
101
+ "scanner_state",
102
+ "gripper_state"
103
+ ]
104
+ },
105
+ "timestamp": {
106
+ "dtype": "float32",
107
+ "shape": [
108
+ 1
109
+ ],
110
+ "names": null
111
+ },
112
+ "episode_index": {
113
+ "dtype": "int64",
114
+ "shape": [
115
+ 1
116
+ ],
117
+ "names": null
118
+ },
119
+ "frame_index": {
120
+ "dtype": "int64",
121
+ "shape": [
122
+ 1
123
+ ],
124
+ "names": null
125
+ },
126
+
127
+ "next.done": {
128
+ "dtype": "bool",
129
+ "shape": [
130
+ 1
131
+ ],
132
+ "names": null
133
+ },
134
+ "index": {
135
+ "dtype": "int64",
136
+ "shape": [
137
+ 1
138
+ ],
139
+ "names": null
140
+ },
141
+ "task_index": {
142
+ "dtype": "int64",
143
+ "shape": [
144
+ 1
145
+ ],
146
+ "names": null
147
+ }
148
+ }
149
+ }
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+ ```