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README.md
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@@ -3,8 +3,170 @@ license: apache-2.0
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task_categories:
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- robotics
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tags:
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-
- robotics
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- LeRobot
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-
-
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- ur5e
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-
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| 3 |
task_categories:
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- robotics
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tags:
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| 6 |
- LeRobot
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+
- LeRobot
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+
- robotics
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- ur5e
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+
- manipulation
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configs:
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- config_name: default
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data_files: data/*/*.parquet
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---
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This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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## Dataset Description
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- **Homepage:** [More Information Needed]
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- **Paper:** [More Information Needed]
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- **License:** apache-2.0
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## Dataset Structure
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[meta/info.json](meta/info.json):
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```json
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{
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"codebase_version": "v3.0",
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"robot_type": "ur5e",
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"total_episodes": 1000,
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"total_frames": 619319,
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"total_tasks": 1,
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"chunks_size": 1000,
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"data_files_size_in_mb": 100,
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"video_files_size_in_mb": 200,
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"fps": 20,
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"splits": {
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"train": "0:1000"
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},
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"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
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"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
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"features": {
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"observation.images.camera_base": {
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"dtype": "video",
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"shape": [
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224,
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224,
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3
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],
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"names": [
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"height",
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"width",
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"rgb"
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],
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"info": {
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"video.height": 224,
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"video.width": 224,
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"video.codec": "av1",
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"video.pix_fmt": "yuv420p",
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"video.is_depth_map": false,
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"video.fps": 20,
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"video.channels": 3,
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"has_audio": false
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}
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},
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"observation.images.camera_wrist_right": {
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"dtype": "video",
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"shape": [
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224,
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224,
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3
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],
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"names": [
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"height",
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"width",
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"rgb"
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],
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"info": {
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"video.height": 224,
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"video.width": 224,
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"video.codec": "av1",
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"video.pix_fmt": "yuv420p",
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"video.is_depth_map": false,
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"video.fps": 20,
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"video.channels": 3,
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"has_audio": false
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}
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},
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"observation.state": {
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"dtype": "float32",
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"shape": [
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],
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"names": {
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"eef_pose": [
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"pos_x",
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"pos_y",
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"pos_z",
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"rot_x",
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"rot_y",
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"rot_z",
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"gripper_width"
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]
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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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7
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],
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"names": {
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"eef_action": [
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"dx",
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"dy",
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"dz",
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"dr_x",
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"dr_y",
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"dr_z",
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"gripper_action"
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]
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}
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},
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"timestamp": {
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"dtype": "float32",
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"shape": [
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1
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],
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"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
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],
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"names": null
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},
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"episode_index": {
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"dtype": "int64",
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"shape": [
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1
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],
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"names": null
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},
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"index": {
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"dtype": "int64",
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"shape": [
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1
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],
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"names": null
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},
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"task_index": {
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"dtype": "int64",
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"shape": [
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1
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],
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"names": null
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}
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}
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}
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```
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## Citation
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**BibTeX:**
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```bibtex
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[More Information Needed]
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```
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