DORLR/isaaclab_ur5_bnvvnb

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "isaaclab_ur5",
    "total_episodes": 5,
    "total_frames": 3002,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:5"
    },
    "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": {
        "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
        },
        "observation.images.cam_side2": {
            "dtype": "video",
            "names": [
                "height",
                "width",
                "channels"
            ],
            "shape": [
                224,
                224,
                3
            ],
            "info": {
                "video.height": 224,
                "video.width": 224,
                "video.channels": 3,
                "video.codec": "libx264",
                "video.pix_fmt": "yuv420p"
            }
        },
        "observation.images.cam_color": {
            "dtype": "video",
            "names": [
                "height",
                "width",
                "channels"
            ],
            "shape": [
                224,
                224,
                3
            ],
            "info": {
                "video.height": 224,
                "video.width": 224,
                "video.channels": 3,
                "video.codec": "libx264",
                "video.pix_fmt": "yuv420p"
            }
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "shoulder_pan_joint",
                "shoulder_lift_joint",
                "elbow_joint",
                "wrist_1_joint",
                "wrist_2_joint",
                "wrist_3_joint",
                "finger_joint"
            ],
            "shape": [
                7
            ]
        },
        "action": {
            "dtype": "float32",
            "names": [
                "shoulder_pan_joint",
                "shoulder_lift_joint",
                "elbow_joint",
                "wrist_1_joint",
                "wrist_2_joint",
                "wrist_3_joint",
                "finger_joint"
            ],
            "shape": [
                7
            ]
        },
        "observation.cartesian_state": {
            "dtype": "float32",
            "names": [
                "eef_x",
                "eef_y",
                "eef_z",
                "eef_qx",
                "eef_qy",
                "eef_qz",
                "eef_qw"
            ],
            "shape": [
                7
            ]
        }
    },
    "tags": [
        "isaaclab_ur5",
        "robotis",
        "env:UR5-Deformable-DP-Insertion-v0",
        "isaaclab:62e5b8cb",
        "host:robotics-server-2",
        "date:2026-04-14",
        "platform:x86_64"
    ]
}

Citation

BibTeX:

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