File size: 2,048 Bytes
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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
} |