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---
dataset_info:
features:
- name: frame_index
dtype: int64
- name: episode_index
dtype: int64
- name: index
dtype: int64
- name: timestamp
dtype: float32
- name: next.done
dtype: bool
- name: next.success
dtype: bool
- name: action
sequence: float32
length: 6
- name: observation.images.wrist.rgb
dtype: video_frame
- name: observation.images.base.rgb
dtype: video_frame
- name: observation.state
sequence: float32
length: 6
- name: tcp_pose_rotvec
sequence: float32
length: 6
splits:
- name: train
num_bytes: 4994773
num_examples: 22373
download_size: 2464205
dataset_size: 4994773
configs:
- config_name: default
data_files:
- split: train
path: data/train-*
license: mit
task_categories:
- robotics
---
A [`LeRobot`](https://github.com/huggingface/lerobot) -formatted dataset of 101 demonstrations for a 'planar push' task with a UR5e robot.
The robot has a cylindrical end-effector and has to push an object to the target location. Once done, the robot needs to move to the corner of the workspace.
#TODO: add video
The target location is fixed and marked with an orange square. Both the initial joint configuration of the robot and the pose of th
The dataset was collected using a [Gello](https://wuphilipp.github.io/gello_site/) arm to teleoperate the robot.
The robot's motion is contrained to remain top-down and on a height of z=1. The agent controls the 6 joints of the robot arm by providing absolute joint coordinates.
The observations are
- 640x480 RGB image from the wrist camera (realsense)
- 640x480 RGB image from a third-person camera (realsense)
- the joint configuration
The robot is operated at 10Hz and each episode is succesful. There is no max duration.
Collecting these 100 episodes took about 1 hour.
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