Datasets:
17 episodes · 30 fps · 4 cameras · 1280×720 libx264
This dataset was created using LeRobot.
Dataset Structure
{
"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:
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