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Datasets:
cupnb
/
ur10e_real

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
Dask
License:
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xet
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observation.state
list
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float32
0
25.3
frame_index
int64
0
760
episode_index
int64
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49
index
int64
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24.6k
task_index
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[ 1.1063414812088013, -2.0318005084991455, 2.2189242839813232, -1.7160202264785767, -1.6154230833053589, -0.42299968004226685, 0.024705883115530014 ]
2.233333
67
0
67
0
[ 0.915283203125, -0.180206298828125, 0, 0, 0, 0, 0 ]
[ 1.0971091985702515, -2.0327341556549072, 2.219622850418091, -1.7162142992019653, -1.6160763502120972, -0.4322584271430969, 0.024705883115530014 ]
2.266667
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0
68
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[ 1.0828638076782227, -2.0340864658355713, 2.220618486404419, -1.716647744178772, -1.617108702659607, -0.44651585817337036, 0.024705883115530014 ]
2.3
69
0
69
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[ 1.0745830535888672, -2.0347683429718018, 2.2211153507232666, -1.7169238328933716, -1.6177438497543335, -0.4547780156135559, 0.024705883115530014 ]
2.333333
70
0
70
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[ 1.0595165491104126, -2.03588604927063, 2.2220189571380615, -1.717654824256897, -1.6189197301864624, -0.46986085176467896, 0.024705883115530014 ]
2.366667
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71
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[ 1.0438930988311768, -2.0369222164154053, 2.222745180130005, -1.7183724641799927, -1.620068907737732, -0.48542100191116333, 0.024705883115530014 ]
2.4
72
0
72
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[ 1.027524471282959, -2.0377562046051025, 2.2232744693756104, -1.7193313837051392, -1.6212505102157593, -0.5018022656440735, 0.024705883115530014 ]
2.433333
73
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73
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[ 1.0131371021270752, -2.0382912158966064, 2.223602056503296, -1.720260739326477, -1.622249960899353, -0.5162809491157532, 0.024705883115530014 ]
2.466667
74
0
74
0
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[ 1.0058913230895996, -2.0384981632232666, 2.2237064838409424, -1.7208086252212524, -1.6226905584335327, -0.5235303044319153, 0.024705883115530014 ]
2.5
75
0
75
0
[ 0.915283203125, -0.180206298828125, -0.024444580078125, 0, 0, 0, 0 ]
[ 0.9909632802009583, -2.038745641708374, 2.223829984664917, -1.7219945192337036, -1.6237729787826538, -0.5384514927864075, 0.024705883115530014 ]
2.533333
76
0
76
0
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[ 0.9746992588043213, -2.0388143062591553, 2.2238991260528564, -1.723441243171692, -1.6248186826705933, -0.5546959042549133, 0.024705883115530014 ]
2.566667
77
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77
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[ 0.9612066745758057, -2.03877854347229, 2.224321126937866, -1.7248793840408325, -1.6257041692733765, -0.5681951642036438, 0.024705883115530014 ]
2.6
78
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78
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[ 0.9459535479545593, -2.03863787651062, 2.224990129470825, -1.726542592048645, -1.6266916990280151, -0.5833967328071594, 0.024705883115530014 ]
2.633333
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[ 0.9380680918693542, -2.0384790897369385, 2.225245237350464, -1.727373719215393, -1.6271203756332397, -0.5913956761360168, 0.024705883115530014 ]
2.666667
80
0
80
0
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[ 0.9307499527931213, -2.0382840633392334, 2.2253735065460205, -1.728242039680481, -1.6275767087936401, -0.5986922383308411, 0.024705883115530014 ]
2.7
81
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[ 0.9145618677139282, -2.0376856327056885, 2.225341558456421, -1.7301546335220337, -1.62865149974823, -0.6148956418037415, 0.024705883115530014 ]
2.733333
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2.766667
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[ 0.8873990178108215, -2.03617787361145, 2.225205659866333, -1.7336446046829224, -1.630308985710144, -0.6421087384223938, 0.024705883115530014 ]
2.8
84
0
84
0
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[ 0.8726673126220703, -2.0351011753082275, 2.2251341342926025, -1.735721230506897, -1.6311849355697632, -0.6568735241889954, 0.024705883115530014 ]
2.833333
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0
85
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[ 0.8581736087799072, -2.0338714122772217, 2.2250864505767822, -1.7379781007766724, -1.632038950920105, -0.6713946461677551, 0.024705883115530014 ]
2.866667
86
0
86
0
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[ 0.8445600271224976, -2.0324885845184326, 2.225106954574585, -1.7405463457107544, -1.6328057050704956, -0.6850793957710266, 0.024705883115530014 ]
2.9
87
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[ 0.8301548957824707, -2.0308449268341064, 2.2250864505767822, -1.743552327156067, -1.6335943937301636, -0.6995208859443665, 0.024705883115530014 ]
2.933333
88
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[ 0.8159427642822266, -2.0289466381073, 2.2250945568084717, -1.7467900514602661, -1.63434636592865, -0.7137487530708313, 0.024705883115530014 ]
2.966667
89
0
89
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[ 0.809356689453125, -2.027953863143921, 2.2252328395843506, -1.7485119104385376, -1.6346219778060913, -0.7203424572944641, 0.024705883115530014 ]
3
90
0
90
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[ 0.7948718667030334, -2.0254409313201904, 2.226820230484009, -1.7539817094802856, -1.6353329420089722, -0.7348268628120422, 0.024705883115530014 ]
3.033333
91
0
91
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[ 0.7809048891067505, -2.0225493907928467, 2.228919267654419, -1.7603331804275513, -1.6359771490097046, -0.7488587498664856, 0.024705883115530014 ]
3.066667
92
0
92
0
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[ 0.7668999433517456, -2.019397497177124, 2.2312543392181396, -1.767205834388733, -1.6366304159164429, -0.7628586888313293, 0.024705883115530014 ]
3.1
93
0
93
0
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[ 0.7539975047111511, -2.0162112712860107, 2.2333767414093018, -1.7737051248550415, -1.637194037437439, -0.7757495045661926, 0.024705883115530014 ]
3.133333
94
0
94
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[ 0.7475719451904297, -2.014604330062866, 2.2344377040863037, -1.77692711353302, -1.6374558210372925, -0.7821882367134094, 0.024705883115530014 ]
3.166667
95
0
95
0
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[ 0.7335972785949707, -2.0108320713043213, 2.2366082668304443, -1.7841554880142212, -1.6380194425582886, -0.7961466908454895, 0.024705883115530014 ]
3.2
96
0
96
0
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[ 0.7208703756332397, -2.0072271823883057, 2.2383930683135986, -1.7908512353897095, -1.6385754346847534, -0.8088906407356262, 0.024705883115530014 ]
3.233333
97
0
97
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[ 0.706812858581543, -2.003016233444214, 2.240288019180298, -1.7983900308609009, -1.639095664024353, -0.8229606747627258, 0.024705883115530014 ]
3.266667
98
0
98
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[ 0.6953442096710205, -1.9993869066238403, 2.241802930831909, -1.8047252893447876, -1.6395429372787476, -0.8343499302864075, 0.024705883115530014 ]
3.3
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": "ros2",
    "total_episodes": 50,
    "total_frames": 24602,
    "total_tasks": 4,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 30,
    "splits": {
        "train": "0:50"
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    "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": {
        "action": {
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            "names": [
                "linear_x.vel",
                "linear_y.vel",
                "linear_z.vel",
                "angular_x.vel",
                "angular_y.vel",
                "angular_z.vel",
                "gripper.pos"
            ],
            "shape": [
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        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "shoulder_pan_joint.pos",
                "shoulder_lift_joint.pos",
                "elbow_joint.pos",
                "wrist_1_joint.pos",
                "wrist_2_joint.pos",
                "wrist_3_joint.pos",
                "robotiq_hande_left_finger_joint.pos"
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        "observation.images.camera1": {
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        "observation.images.camera2": {
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        "timestamp": {
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        "task_index": {
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        }
    }
}

Citation

BibTeX:

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