akuramshin/peg_insertion
This dataset was created using LeRobot. Dataset Structure meta/info.json: { "codebase_version": "v2.1", "robot_type": "ur5e", "total_episodes": 23, "total_frames": 9423, "total_tasks": 1, "total_videos": 0, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": { "train": "0:23" }, "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", "video_path":… See the full description on the dataset page: https://huggingface.co/datasets/akuramshin/peg_insertion.
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This dataset was created using LeRobot.
Dataset Description
- Homepage: [More Information Needed]
- Paper: [More Information Needed]
- License: apache-2.0
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "ur5e",
"total_episodes": 23,
"total_frames": 9423,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:23"
},
"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": {
"joint_position": {
"dtype": "float32",
"shape": [
6
],
"names": [
"joint_position"
]
},
"joint_velocity": {
"dtype": "float32",
"shape": [
6
],
"names": [
"joint_velocity"
]
},
"end_effector_pose": {
"dtype": "float32",
"shape": [
6
],
"names": [
"end_effector_pose"
]
},
"gripper_position": {
"dtype": "float32",
"shape": [
1
],
"names": [
"gripper_position"
]
},
"actions": {
"dtype": "float32",
"shape": [
7
],
"names": [
"actions"
]
},
"base_0_rgb": {
"dtype": "image",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channel"
],
"source": {
"camera_stem": "44182126_left",
"crop": {
"x": 473,
"y": 42,
"size": 1022
},
"source_size": {
"width": 1920,
"height": 1200
},
"resize_to": 224
}
},
"left_wrist_0_rgb": {
"dtype": "image",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channel"
],
"source": {
"camera_stem": "wrist_cam_left",
"crop": {
"x": 360,
"y": 0,
"size": 1200
},
"source_size": {
"width": 1920,
"height": 1200
},
"resize_to": 224
}
},
"right_wrist_0_rgb": {
"dtype": "image",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channel"
],
"source": {
"camera_stem": "wrist_cam_right",
"crop": {
"x": 360,
"y": 0,
"size": 1200
},
"source_size": {
"width": 1920,
"height": 1200
},
"resize_to": 224
}
},
"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
}
}
}Citation
BibTeX:
[More Information Needed]