| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - ur5 |
| configs: |
| - config_name: default |
| data_files: data/*/*.parquet |
| --- |
| |
| This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
|
|
| ## Dataset Structure |
|
|
| [meta/info.json](meta/info.json): |
| ```json |
| { |
| "codebase_version": "v3.0", |
| "robot_type": null, |
| "total_episodes": 130, |
| "total_frames": 4435, |
| "total_tasks": 36, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200, |
| "fps": 15, |
| "splits": { |
| "train": "0:130" |
| }, |
| "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": { |
| "observation.image": { |
| "dtype": "image", |
| "shape": [3, 480, 640], |
| "names": ["channels", "height", "width"] |
| }, |
| "observation.wrist_image": { |
| "dtype": "image", |
| "shape": [3, 480, 640], |
| "names": ["channels", "height", "width"] |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [6], |
| "names": ["q0", "q1", "q2", "q3", "q4", "q5"] |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [7], |
| "names": ["tx", "ty", "tz", "rx", "ry", "rz", "gripper"] |
| }, |
| "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 |
| } |
| }, |
| "total_videos": 0, |
| "total_chunks": 1 |
| } |
