chrisw-shadow/ur10e_dexee_task

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "ur10e_dexee",
    "total_episodes": 52,
    "total_frames": 12659,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:52"
    },
    "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": {
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            "shape": [
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            ],
            "names": [
                "tcp_x",
                "tcp_y",
                "tcp_z",
                "tcp_r6d_0",
                "tcp_r6d_1",
                "tcp_r6d_2",
                "tcp_r6d_3",
                "tcp_r6d_4",
                "tcp_r6d_5",
                "q0",
                "q1",
                "q2",
                "q3",
                "q4",
                "q5",
                "force_x",
                "force_y",
                "force_z",
                "hand_F0_J0",
                "hand_F0_J1",
                "hand_F0_J2",
                "hand_F0_J3",
                "hand_F1_J0",
                "hand_F1_J1",
                "hand_F1_J2",
                "hand_F1_J3",
                "hand_F2_J0",
                "hand_F2_J1",
                "hand_F2_J2",
                "hand_F2_J3"
            ]
        },
        "action": {
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                21
            ],
            "names": [
                "delta_x",
                "delta_y",
                "delta_z",
                "delta_r6d_0",
                "delta_r6d_1",
                "delta_r6d_2",
                "delta_r6d_3",
                "delta_r6d_4",
                "delta_r6d_5",
                "hand_F0_J0",
                "hand_F0_J1",
                "hand_F0_J2",
                "hand_F0_J3",
                "hand_F1_J0",
                "hand_F1_J1",
                "hand_F1_J2",
                "hand_F1_J3",
                "hand_F2_J0",
                "hand_F2_J1",
                "hand_F2_J2",
                "hand_F2_J3"
            ]
        },
        "observation.images.fixed": {
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            "shape": [
                480,
                640,
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            ],
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                "video.width": 640,
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                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist": {
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                640,
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            ],
            "names": [
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                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
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        },
        "timestamp": {
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        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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        },
        "task_index": {
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    }
}

Citation

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