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Datasets:
zestcode5
/
ur3-multiple-task

Tasks:
Robotics
Modalities:
Video
Size:
< 1K
Tags:
LeRobot
ur3
Libraries:
Datasets
License:
Dataset card Data Studio Files
xet
 Community
1
ur3-multiple-task
File size: 2,614 Bytes
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{
  "codebase_version": "v2.1",
  "robot_type": "ur3",
  "total_episodes": 255,
  "total_frames": 212754,
  "total_tasks": 5,
  "total_videos": 510,
  "total_chunks": 1,
  "chunks_size": 1000,
  "fps": 30,
  "splits": {
    "train": "0:255"
  },
  "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
  "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
  "features": {
    "action": {
      "dtype": "float32",
      "shape": [
        7
      ],
      "names": [
        "tcp_x.vel",
        "tcp_y.vel",
        "tcp_z.vel",
        "tcp_rx.vel",
        "tcp_ry.vel",
        "tcp_rz.vel",
        "gripper.cmd"
      ]
    },
    "observation.state": {
      "dtype": "float32",
      "shape": [
        11
      ],
      "names": [
        "tcp_x.pos",
        "tcp_y.pos",
        "tcp_z.pos",
        "tcp_r1x.pos",
        "tcp_r1y.pos",
        "tcp_r1z.pos",
        "tcp_r2x.pos",
        "tcp_r2y.pos",
        "tcp_r2z.pos",
        "gripper_left.pos",
        "gripper_right.pos"
      ]
    },
    "observation.images.fixed": {
      "dtype": "video",
      "shape": [
        480,
        640,
        3
      ],
      "names": [
        "height",
        "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,
        "has_audio": false
      }
    },
    "observation.images.cam_wrist": {
      "dtype": "video",
      "shape": [
        480,
        640,
        3
      ],
      "names": [
        "height",
        "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,
        "has_audio": false
      }
    },
    "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
    }
  },
  "repo_id": "zestcode5/ur3-multiple-task"
}