Datasets:
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action
sequence | observation.state
sequence | observation.images.head
imagewidth (px) 1.28k
1.28k
| observation.images.wrist
imagewidth (px) 1.28k
1.28k
| timestamp
float32 0
12.9
| frame_index
int64 0
194
| episode_index
int64 0
28
| index
int64 0
5.26k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|---|---|
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End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Description
This is a UR robot dataset for box assembly task with the following features:
91 training episodes
17,106 total frames
15 FPS sampling rate
7-dimensional action space (6 joints + gripper)
31-dimensional state space:
- Joint positions (6 joints + gripper)
- TCP pose (position and orientation)
- Joint velocities
- TCP linear and angular velocities
- TCP forces and torques
Two camera views:
- Head camera: 720x1280x3
- Wrist camera: 720x1280x3
Homepage: https://github.com/huggingface/lerobot
Paper: [More Information Needed]
License: apache-2.0
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "ur",
"total_episodes": 140,
"total_frames": 26286,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 15,
"splits": {
"train": "0:140"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": null,
"features": {
"action": {
"dtype": "float32",
"shape": [
7
],
"names": [
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6",
"gripper"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
31
],
"names": [
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6",
"gripper",
"tcp_x",
"tcp_y",
"tcp_z",
"tcp_rx",
"tcp_ry",
"tcp_rz",
"joint_vel_1",
"joint_vel_2",
"joint_vel_3",
"joint_vel_4",
"joint_vel_5",
"joint_vel_6",
"tcp_vel_x",
"tcp_vel_y",
"tcp_vel_z",
"tcp_vel_rx",
"tcp_vel_ry",
"tcp_vel_rz",
"tcp_force_x",
"tcp_force_y",
"tcp_force_z",
"tcp_torque_x",
"tcp_torque_y",
"tcp_torque_z"
]
},
"observation.images.head": {
"dtype": "image",
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channels"
],
"info": null
},
"observation.images.wrist": {
"dtype": "image",
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channels"
],
"info": null
},
"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:
@misc{ur_box_lid_assembly,
author = {SIENA11111},
title = {UR Robot Box and Lid Assembly Dataset},
year = {2024},
publisher = {Hugging Face},
journal = {Hugging Face Hub},
howpublished = {\url{https://huggingface.co/datasets/SIENA11111/ur_box_lid_assembly}}
}
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