| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - ur5 |
| - robotis |
| - host:robotics-server-3 |
| - date:2026-10-02 |
| - platform:x86_64 |
| configs: |
| - config_name: default |
| data_files: data/*/*.parquet |
| --- |
| |
| This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
|
|
|
|
| <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=DORLR/ur5_camera_ready_insertion"> |
| <img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/> |
| <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/> |
| </a> |
|
|
|
|
| ## Dataset Description |
|
|
|
|
|
|
| - **Homepage:** [More Information Needed] |
| - **Paper:** [More Information Needed] |
| - **License:** apache-2.0 |
|
|
| ## Dataset Structure |
|
|
| [meta/info.json](meta/info.json): |
| ```json |
| { |
| "codebase_version": "v3.0", |
| "robot_type": "ur5", |
| "total_episodes": 17, |
| "total_frames": 10205, |
| "total_tasks": 4, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200, |
| "fps": 30, |
| "splits": { |
| "train": "0:17" |
| }, |
| "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_wrist": { |
| "dtype": "video", |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "shape": [ |
| 720, |
| 1280, |
| 3 |
| ], |
| "info": { |
| "video.height": 720, |
| "video.width": 1280, |
| "video.channels": 3, |
| "video.codec": "libx264", |
| "video.pix_fmt": "yuv420p" |
| } |
| }, |
| "observation.images.cam_side": { |
| "dtype": "video", |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "shape": [ |
| 720, |
| 1280, |
| 3 |
| ], |
| "info": { |
| "video.height": 720, |
| "video.width": 1280, |
| "video.channels": 3, |
| "video.codec": "libx264", |
| "video.pix_fmt": "yuv420p" |
| } |
| }, |
| "observation.images.cam_wrist_depth": { |
| "dtype": "video", |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "shape": [ |
| 720, |
| 1280, |
| 3 |
| ], |
| "info": { |
| "video.height": 720, |
| "video.width": 1280, |
| "video.channels": 3, |
| "video.codec": "libx264", |
| "video.pix_fmt": "yuv420p" |
| } |
| }, |
| "observation.images.cam_side_depth": { |
| "dtype": "video", |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "shape": [ |
| 720, |
| 1280, |
| 3 |
| ], |
| "info": { |
| "video.height": 720, |
| "video.width": 1280, |
| "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", |
| "robotiq_85_left_knuckle_joint" |
| ], |
| "shape": [ |
| 7 |
| ] |
| }, |
| "action": { |
| "dtype": "float32", |
| "names": [ |
| "shoulder_pan_joint", |
| "shoulder_lift_joint", |
| "elbow_joint", |
| "wrist_1_joint", |
| "wrist_2_joint", |
| "wrist_3_joint", |
| "robotiq_85_left_knuckle_joint" |
| ], |
| "shape": [ |
| 7 |
| ] |
| }, |
| "observation.wrench": { |
| "dtype": "float32", |
| "names": [ |
| "fx", |
| "fy", |
| "fz", |
| "tx", |
| "ty", |
| "tz" |
| ], |
| "shape": [ |
| 6 |
| ] |
| } |
| }, |
| "tags": [ |
| "ur5", |
| "robotis", |
| "host:robotics-server-3", |
| "date:2026-10-02", |
| "platform:x86_64" |
| ] |
| } |
| ``` |
|
|
|
|
| ## Citation |
|
|
| **BibTeX:** |
|
|
| ```bibtex |
| [More Information Needed] |
| ``` |
