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Datasets:
CYM2002
/
UR5_peg3_insert

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
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pandas
License:
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observation.state
list
action
list
timestamp
float32
0
27.7
frame_index
int64
0
277
episode_index
int64
0
54
index
int64
0
10.3k
task_index
int64
0
0
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3
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4
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4.1
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4.2
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4.3
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4.4
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4.5
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4.6
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4.7
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4.8
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4.9
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5
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5.1
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5.2
52
0
52
0
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5.3
53
0
53
0
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5.4
54
0
54
0
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5.5
55
0
55
0
[ 1.3055049180984497, -1.3523434400558472, 1.367478370666504, -1.5861304998397827, -1.574858546257019, 5.765564918518066, 1 ]
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5.6
56
0
56
0
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5.7
57
0
57
0
[ 1.343666434288025, -1.360824465751648, 1.3777313232421875, -1.587964415550232, -1.574858546257019, 5.7619147300720215, 1 ]
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5.8
58
0
58
0
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5.9
59
0
59
0
[ 1.3818998336791992, -1.366214632987976, 1.384617805480957, -1.589199423789978, -1.574978232383728, 5.757462501525879, 1 ]
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6
60
0
60
0
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6.1
61
0
61
0
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6.2
62
0
62
0
[ 1.4334875345230103, -1.3727186918258667, 1.3924274444580078, -1.5907100439071655, -1.574990153312683, 5.732639312744141, 1 ]
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6.3
63
0
63
0
[ 1.4484834671020508, -1.3743356466293335, 1.394331455230713, -1.5909498929977417, -1.574978232383728, 5.720514297485352, 1 ]
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6.4
64
0
64
0
[ 1.4658513069152832, -1.375198245048523, 1.3953857421875, -1.5911659002304077, -1.574978232383728, 5.708174228668213, 1 ]
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6.5
65
0
65
0
[ 1.4824520349502563, -1.3741801977157593, 1.394092082977295, -1.5910218954086304, -1.5750025510787964, 5.699580192565918, 1 ]
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6.6
66
0
66
0
[ 1.5005860328674316, -1.3709815740585327, 1.390103816986084, -1.5904582738876343, -1.5749543905258179, 5.6961212158203125, 1 ]
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6.7
67
0
67
0
[ 1.5189589262008667, -1.367376685142517, 1.385887622833252, -1.589547038078308, -1.5749424695968628, 5.695522308349609, 1 ]
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6.8
68
0
68
0
[ 1.5386980772018433, -1.3633273839950562, 1.3807368278503418, -1.588539958000183, -1.574966311454773, 5.694852352142334, 1 ]
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6.9
69
0
69
0
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7
70
0
70
0
[ 1.5762349367141724, -1.353624701499939, 1.3690710067749023, -1.5862864255905151, -1.5749543905258179, 5.6924943923950195, 1 ]
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7.1
71
0
71
0
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7.2
72
0
72
0
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7.3
73
0
73
0
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7.4
74
0
74
0
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7.5
75
0
75
0
[ 1.6641954183578491, -1.3235591650009155, 1.3313069343566895, -1.5786727666854858, -1.574858546257019, 5.675545692443848, 1 ]
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7.6
76
0
76
0
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7.7
77
0
77
0
[ 1.6992526054382324, -1.3093293905258179, 1.31303071975708, -1.5749324560165405, -1.5748943090438843, 5.662378787994385, 1 ]
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7.8
78
0
78
0
[ 1.7153021097183228, -1.302214503288269, 1.304239273071289, -1.5729297399520874, -1.5749062299728394, 5.655316352844238, 1 ]
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7.9
79
0
79
0
[ 1.7316033840179443, -1.2946199178695679, 1.2941908836364746, -1.5705684423446655, -1.5748823881149292, 5.6483378410339355, 1 ]
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8
80
0
80
0
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8.1
81
0
81
0
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8.2
82
0
82
0
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8.3
83
0
83
0
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8.4
84
0
84
0
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8.5
85
0
85
0
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8.6
86
0
86
0
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8.7
87
0
87
0
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8.8
88
0
88
0
[ 1.8748972415924072, -1.211706519126892, 1.1843419075012207, -1.5439409017562866, -1.5748227834701538, 5.564818859100342, 1 ]
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8.9
89
0
89
0
[ 1.89003586769104, -1.1999677419662476, 1.1701617240905762, -1.5413631200790405, -1.5747512578964233, 5.551866054534912, 1 ]
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9
90
0
90
0
[ 1.9046480655670166, -1.1887086629867554, 1.156233787536621, -1.5385698080062866, -1.5747989416122437, 5.5383381843566895, 1 ]
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9.1
91
0
91
0
[ 1.9183980226516724, -1.1775931119918823, 1.1443772315979004, -1.537502646446228, -1.5747870206832886, 5.523648738861084, 1 ]
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9.2
92
0
92
0
[ 1.9304107427597046, -1.1690763235092163, 1.1391558647155762, -1.5407994985580444, -1.5747750997543335, 5.50636100769043, 1 ]
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9.3
93
0
93
0
[ 1.9417054653167725, -1.1616500616073608, 1.138425350189209, -1.5478366613388062, -1.5747989416122437, 5.48653507232666, 1 ]
[ 0.010623335838317871, 0.009163856506347656, -0.0009098052978515625, -0.008069038391113281, 0, -0.02128744125366211, 0 ]
9.4
94
0
94
0
[ 1.9523288011550903, -1.1524862051010132, 1.1375155448913574, -1.5559056997299194, -1.5747989416122437, 5.465247631072998, 1 ]
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9.5
95
0
95
0
[ 1.9625816345214844, -1.1424845457077026, 1.1368684768676758, -1.5650047063827515, -1.5747870206832886, 5.442127704620361, 1 ]
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9.6
96
0
96
0
[ 1.9712769985198975, -1.13398015499115, 1.137946605682373, -1.575112223625183, -1.5748103857040405, 5.417581558227539, 1 ]
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9.7
97
0
97
0
[ 1.977960467338562, -1.1270807981491089, 1.1405210494995117, -1.5847276449203491, -1.5748103857040405, 5.390808582305908, 1 ]
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9.8
98
0
98
0
[ 1.984020709991455, -1.1205285787582397, 1.14241361618042, -1.5929402112960815, -1.5747870206832886, 5.3616509437561035, 1 ]
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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": "v3.0",
    "robot_type": "ur5",
    "total_episodes": 55,
    "total_frames": 10319,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 10,
    "splits": {
        "train": "0:55"
    },
    "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.state": {
            "dtype": "float32",
            "shape": [
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            "names": [
                "joint_0",
                "joint_1",
                "joint_2",
                "joint_3",
                "joint_4",
                "joint_5",
                "gripper"
            ]
        },
        "observation.images.base_0_rgb": {
            "dtype": "video",
            "shape": [
                480,
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                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 480,
                "video.width": 480,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist_0_rgb": {
            "dtype": "video",
            "shape": [
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            "names": [
                "height",
                "width",
                "channel"
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            "info": {
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                "video.width": 480,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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                "video.channels": 3,
                "has_audio": false
            }
        },
        "action": {
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            "shape": [
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            "names": [
                "delta_joint_0",
                "delta_joint_1",
                "delta_joint_2",
                "delta_joint_3",
                "delta_joint_4",
                "delta_joint_5",
                "delta_gripper"
            ]
        },
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}

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