shirasu206/dual_arm_ur5e_ur3e_20260606_v24

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "dual_arm_ur5e_ur3e",
    "total_episodes": 50,
    "total_frames": 9786,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 0.0001,
    "video_files_size_in_mb": 0.0001,
    "fps": 8,
    "splits": {
        "train": "0:50"
    },
    "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.base_image": {
            "dtype": "video",
            "shape": [
                224,
                224,
                3
            ],
            "names": [
                "H",
                "W",
                "C"
            ],
            "info": {
                "video.height": 224,
                "video.width": 224,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 8,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.ur5e_image": {
            "dtype": "video",
            "shape": [
                224,
                224,
                3
            ],
            "names": [
                "H",
                "W",
                "C"
            ],
            "info": {
                "video.height": 224,
                "video.width": 224,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 8,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.ur3e_image": {
            "dtype": "video",
            "shape": [
                224,
                224,
                3
            ],
            "names": [
                "H",
                "W",
                "C"
            ],
            "info": {
                "video.height": 224,
                "video.width": 224,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 8,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": [
                "ur5e_j0",
                "ur5e_j1",
                "ur5e_j2",
                "ur5e_j3",
                "ur5e_j4",
                "ur5e_j5",
                "ur5e_grip",
                "ur3e_j0",
                "ur3e_j1",
                "ur3e_j2",
                "ur3e_j3",
                "ur3e_j4",
                "ur3e_j5",
                "ur3e_grip"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": [
                "a_ur5e_j0",
                "a_ur5e_j1",
                "a_ur5e_j2",
                "a_ur5e_j3",
                "a_ur5e_j4",
                "a_ur5e_j5",
                "a_ur5e_grip",
                "a_ur3e_j0",
                "a_ur3e_j1",
                "a_ur3e_j2",
                "a_ur3e_j3",
                "a_ur3e_j4",
                "a_ur3e_j5",
                "a_ur3e_grip"
            ]
        },
        "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:

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