Datasetpublic

hainh22/gym-peg-insertion-square-w-ft

This dataset was created using LeRobot. Dataset Structure meta/info.json: { "codebase_version": "v2.1", "robot_type": "ur5", "total_episodes": 49, "total_frames": 12164, "total_tasks": 1, "total_videos": 49, "total_chunks": 1, "chunks_size": 1000, "fps": 10, "splits": { "train": "0:49" }, "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/hainh22/gym-peg-insertion-square-w-ft.

sourceHugging Faceapache-2.0updated 1y agoView on Hugging Face

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Dataset Card

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:

json

{
    "codebase_version": "v2.1",
    "robot_type": "ur5",
    "total_episodes": 49,
    "total_frames": 12164,
    "total_tasks": 1,
    "total_videos": 49,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 10,
    "splits": {
        "train": "0:49"
    },
    "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": {
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": {
                "joints": [
                    "j0",
                    "j1",
                    "j2",
                    "j3",
                    "j4",
                    "j5"
                ]
            }
        },
        "observation.force_torque": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": {
                "force_torque": [
                    "fx",
                    "fy",
                    "fz",
                    "tx",
                    "ty",
                    "tz"
                ]
            }
        },
        "action": {
            "dtype": "float32",
            "shape": [
                4
            ],
            "names": {
                "displacement": [
                    "dx",
                    "dy",
                    "dz",
                    "drot_z"
                ]
            }
        },
        "observation.images.front": {
            "dtype": "video",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.fps": 10.0,
                "video.height": 256,
                "video.width": 256,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "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
        }
    }
}

Citation

BibTeX:

bibtex

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