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Datasets:
sheilsarda
/
ur5_isaac_sim_v1

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
ur5e
isaac-sim
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
xet
 Community
1
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joint_position
list
gripper_position
float32
0
1.51
actions
list
timestamp
float32
0
55.3
frame_index
int64
0
553
episode_index
int64
0
9
index
int64
0
3.15k
task_index
int64
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7.9
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0.1179
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8
80
0
80
0
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0.1279
[ 0, 0, 0, 0, 0, 0, 0.1429000049829483 ]
8.1
81
0
81
0
[ 0.006500000134110451, -0.03500000014901161, 0.00019999999494757503, -0.0006000000284984708, 0.0019000000320374966, -0.0032999999821186066 ]
0.1429
[ 0, 0, 0, 0, 0, 0, 0.15289999544620514 ]
8.2
82
0
82
0
[ 0.006500000134110451, -0.03500000014901161, 0.00019999999494757503, -0.0006000000284984708, 0.0019000000320374966, -0.0032999999821186066 ]
0.1529
[ 0, 0, 0, 0, 0, 0, 0.16290000081062317 ]
8.3
83
0
83
0
[ 0.006500000134110451, -0.03500000014901161, 0.00019999999494757503, -0.0006000000284984708, 0.0019000000320374966, -0.0032999999821186066 ]
0.1629
[ 0, 0, 0, 0, 0, 0, 0.1777999997138977 ]
8.4
84
0
84
0
[ 0.006500000134110451, -0.03500000014901161, 0.00019999999494757503, -0.0006000000284984708, 0.0019000000320374966, -0.0032999999821186066 ]
0.1778
[ 0, 0, 0, 0, 0, 0, 0.18780000507831573 ]
8.5
85
0
85
0
[ 0.006500000134110451, -0.03500000014901161, 0.00019999999494757503, -0.0006000000284984708, 0.0019000000320374966, -0.0032999999821186066 ]
0.1878
[ 0, 0, 0, 0, 0, 0, 0.19789999723434448 ]
8.6
86
0
86
0
[ 0.006500000134110451, -0.03500000014901161, 0.00019999999494757503, -0.0006000000284984708, 0.0019000000320374966, -0.0032999999821186066 ]
0.1979
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8.7
87
0
87
0
[ 0.006500000134110451, -0.03500000014901161, 0.00019999999494757503, -0.0006000000284984708, 0.0019000000320374966, -0.0032999999821186066 ]
0.2078
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8.8
88
0
88
0
[ 0.006500000134110451, -0.03500000014901161, 0.00019999999494757503, -0.0006000000284984708, 0.0019000000320374966, -0.0032999999821186066 ]
0.2178
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8.9
89
0
89
0
[ 0.006500000134110451, -0.03500000014901161, 0.00019999999494757503, -0.0006000000284984708, 0.0019000000320374966, -0.0032999999821186066 ]
0.2278
[ 0, 0, 0, 0, 0, 0, 0.24279999732971191 ]
9
90
0
90
0
[ 0.006500000134110451, -0.03500000014901161, 0.00019999999494757503, -0.0006000000284984708, 0.0019000000320374966, -0.0032999999821186066 ]
0.2428
[ 0, 0, 0, 0, 0, 0, 0.25279998779296875 ]
9.1
91
0
91
0
[ 0.006500000134110451, -0.03500000014901161, 0.00019999999494757503, -0.0006000000284984708, 0.0019000000320374966, -0.0032999999821186066 ]
0.2528
[ 0, 0, 0, 0, 0, 0, 0.262800008058548 ]
9.2
92
0
92
0
[ 0.006500000134110451, -0.03500000014901161, 0.00019999999494757503, -0.0006000000284984708, 0.0019000000320374966, -0.0032999999821186066 ]
0.2628
[ 0, 0, 0, 0, 0, 0, 0.2727999985218048 ]
9.3
93
0
93
0
[ 0.006500000134110451, -0.03500000014901161, 0.00019999999494757503, -0.0006000000284984708, 0.0019000000320374966, -0.0032999999821186066 ]
0.2728
[ 0, 0, 0, 0, 0, 0, 0.28780001401901245 ]
9.4
94
0
94
0
[ 0.006500000134110451, -0.03500000014901161, 0.00019999999494757503, -0.0006000000284984708, 0.0019000000320374966, -0.0032999999821186066 ]
0.2878
[ 0, 0, 0, 0, 0, 0, 0.2978000044822693 ]
9.5
95
0
95
0
[ 0.006500000134110451, -0.03500000014901161, 0.00019999999494757503, -0.0006000000284984708, 0.0019000000320374966, -0.0032999999821186066 ]
0.2978
[ 0, 0, 0, 0, 0, 0, 0.3077999949455261 ]
9.6
96
0
96
0
[ 0.006500000134110451, -0.03500000014901161, 0.00019999999494757503, -0.0006000000284984708, 0.0019000000320374966, -0.0032999999821186066 ]
0.3078
[ 0, 0, 0, 0, 0, 0, 0.31779998540878296 ]
9.7
97
0
97
0
[ 0.006500000134110451, -0.03500000014901161, 0.00019999999494757503, -0.0006000000284984708, 0.0019000000320374966, -0.0032999999821186066 ]
0.3178
[ 0, 0, 0, 0, 0, 0, 0.3328000009059906 ]
9.8
98
0
98
0
[ 0.006500000134110451, -0.03500000014901161, 0.00019999999494757503, -0.0006000000284984708, 0.0019000000320374966, -0.0032999999821186066 ]
0.3328
[ 0, 0, 0, 0, 0, 0, 0.34279999136924744 ]
9.9
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "ur5e",
    "total_episodes": 10,
    "total_frames": 3298,
    "total_tasks": 1,
    "total_videos": 20,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 10,
    "splits": {
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    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
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                "channel"
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                "video.width": 320,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
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        },
        "wrist_image_left": {
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        "actions": {
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        "timestamp": {
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            "names": null
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        "frame_index": {
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            "names": null
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        "episode_index": {
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        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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