This dataset was created using LeRobot. Part B (a white disc with a hub and a bar) is found with the wrist camera, picked from the plate and seated into fixture A. Universal Robots UR7e, Robotiq gripper, wrist-mounted Intel RealSense D405.
Rows65,387
Configurations1
Size8.1 GB
License—
AccessPublicly accessible
Monthly Downloads—
Dataset Card
This dataset was created using LeRobot. Part B (a white disc with a hub and a bar) is found with the wrist camera, picked from the plate and seated into fixture A. Universal Robots UR7e, Robotiq gripper, wrist-mounted Intel RealSense D405. Collected autonomously during a continuous 48-hour run that started on 2026-10-10, to cover the lighting changes of day and night. This repository is one part of that run: 101 episodes, 65387 frames at 30 fps. - State and action (16 values each): 6 joint angles, TCP position, TCP orientation (6D), gripper position. Also recorded: joint velocity, torque and current, TCP force, raw force/torque wrench, gripper effort, capture time. - The wrist camera is…
Excerpt from the card by Anuj Zore.
Structure
default 65,387 rows
| Split | Rows | Size |
|---|---|---|
| train | 65,387 | 21.7 MB |
observation.stateListactionListobservation.joint_velocityListobservation.tcp_forceListobservation.ft_raw_wrenchListobservation.joint_torqueListobservation.joint_currentListobservation.gripper_effortListobservation.capture_timefloat64timestampfloat32frame_indexint64episode_indexint64indexint64task_indexint64
Details
- Repository
- zeroanuj/ur7_b_into_a_48h_w1_p04
- Publisher
- Anuj Zore
- Task category
- Robotics
- Tags
- LeRobot, ur7e, robotiq
- Size category
- Not stated by the source
- Languages
- Not stated by the source
- Revision
- 0ed17f3c14c8690af5734da1524189ede7b1122a
- Last updated
- 2026-10-13
Files
122 files, 8.1 GB in total.
Data46 files · 22.1 MB
Documentation1 file · 9.0 KB
Other74 files · 8.1 GB
Repository1 file · 2.5 KB
Every file
| File | Type | Size | SHA-256 |
|---|---|---|---|
| data/chunk-000/file-000.parquet | Data | 965.3 KB | b5e03ded905b |
| data/chunk-000/file-001.parquet | Data | 1.0 MB | 69657072e1f5 |
| data/chunk-000/file-002.parquet | Data | 969.0 KB | dcc8ddc2934a |
| data/chunk-000/file-003.parquet | Data | 933.5 KB | 5a97606b1f7c |
| data/chunk-000/file-004.parquet | Data | 964.2 KB | ecd593224a20 |
| data/chunk-000/file-005.parquet | Data | 935.1 KB | 05186fd78f6c |
| data/chunk-000/file-006.parquet | Data | 1.1 MB | 28a1198048bf |
| data/chunk-000/file-007.parquet | Data | 980.0 KB | e19162dcca22 |
| data/chunk-000/file-008.parquet | Data | 927.4 KB | e281ef876731 |
| data/chunk-000/file-009.parquet | Data | 894.9 KB | 37df5a3469f1 |
| data/chunk-000/file-010.parquet | Data | 996.7 KB | 7f6a29c2d082 |
| data/chunk-000/file-011.parquet | Data | 956.0 KB | 07de5a69d9a9 |
| data/chunk-000/file-012.parquet | Data | 904.7 KB | ca1f1d0a3f67 |
| data/chunk-000/file-013.parquet | Data | 989.1 KB | ff67266108b5 |
| data/chunk-000/file-014.parquet | Data | 997.6 KB | aa9c97ca8c2b |
| data/chunk-000/file-015.parquet | Data | 998.1 KB | d065ef4ee9c9 |
| data/chunk-000/file-016.parquet | Data | 985.5 KB | 71fe89ba9d3b |
| data/chunk-000/file-017.parquet | Data | 1.1 MB | 21d80e9b8094 |
| data/chunk-000/file-018.parquet | Data | 1.1 MB | 542903ea52c2 |
| data/chunk-000/file-019.parquet | Data | 903.0 KB | d11390abcdc2 |
| data/chunk-000/file-020.parquet | Data | 202.9 KB | 585479fb0479 |
| meta/episodes/chunk-000/file-000.parquet | Data | 111.2 KB | 9bc6177c07f0 |
| meta/episodes/chunk-000/file-001.parquet | Data | 111.2 KB | 11fef4a42217 |
| meta/episodes/chunk-000/file-002.parquet | Data | 111.3 KB | 46ac2e491b39 |
| meta/episodes/chunk-000/file-003.parquet | Data | 111.4 KB | 83ce76350dc9 |
| meta/episodes/chunk-000/file-004.parquet | Data | 111.1 KB | b111d8c07870 |
| meta/episodes/chunk-000/file-005.parquet | Data | 111.1 KB | eb17385097e2 |
| meta/episodes/chunk-000/file-006.parquet | Data | 111.0 KB | 8e8ba3ebe1be |
| meta/episodes/chunk-000/file-007.parquet | Data | 111.2 KB | 35067b76dd02 |
| meta/episodes/chunk-000/file-008.parquet | Data | 111.3 KB | 597a873f68c5 |
| meta/episodes/chunk-000/file-009.parquet | Data | 111.1 KB | fd66cec2976f |
| meta/episodes/chunk-000/file-010.parquet | Data | 111.1 KB | 0f1fce3140af |
| meta/episodes/chunk-000/file-011.parquet | Data | 111.4 KB | 5d5424311d4e |
| meta/episodes/chunk-000/file-012.parquet | Data | 111.4 KB | 911bcbc8df43 |
| meta/episodes/chunk-000/file-013.parquet | Data | 111.4 KB | e6e2151e821b |
| meta/episodes/chunk-000/file-014.parquet | Data | 111.2 KB | 1532ef150baa |
| meta/episodes/chunk-000/file-015.parquet | Data | 111.2 KB | 027facb31f2e |
| meta/episodes/chunk-000/file-016.parquet | Data | 111.1 KB | c60715fc6136 |
| meta/episodes/chunk-000/file-017.parquet | Data | 110.8 KB | 0edcfea11aa3 |
| meta/episodes/chunk-000/file-018.parquet | Data | 111.5 KB | 3f5773e500cd |
| meta/episodes/chunk-000/file-019.parquet | Data | 111.3 KB | fd70cdd26037 |
| meta/episodes/chunk-000/file-020.parquet | Data | 91.0 KB | 33231741457e |
| meta/info.json | Data | 7.0 KB | — |
| meta/source_episodes.json | Data | 1.2 KB | — |
| meta/stats.json | Data | 30.9 KB | — |
| meta/tasks.parquet | Data | 2.3 KB | 1b88cdab43ce |
| README.md | Documentation | 9.0 KB | — |
| videos/observation.images.wrist/chunk-000/file-000.mp4 | Other | 34.0 MB | 1464797a59cc |
| videos/observation.images.wrist/chunk-000/file-001.mp4 | Other | 36.6 MB | 330088050b9e |
| videos/observation.images.wrist/chunk-000/file-002.mp4 | Other | 31.9 MB | 8642bc1b4706 |
| videos/observation.images.wrist/chunk-000/file-003.mp4 | Other | 32.1 MB | 75e6177d89a6 |
| videos/observation.images.wrist/chunk-000/file-004.mp4 | Other | 33.2 MB | 520e1384a650 |
| videos/observation.images.wrist/chunk-000/file-005.mp4 | Other | 31.0 MB | d96493d3b9a0 |
| videos/observation.images.wrist/chunk-000/file-006.mp4 | Other | 41.3 MB | 76171e956450 |
| videos/observation.images.wrist/chunk-000/file-007.mp4 | Other | 32.6 MB | 85e51b418354 |
| videos/observation.images.wrist/chunk-000/file-008.mp4 | Other | 30.7 MB | a051b8141dbd |
| videos/observation.images.wrist/chunk-000/file-009.mp4 | Other | 31.4 MB | cdbde99aebbe |
| videos/observation.images.wrist/chunk-000/file-010.mp4 | Other | 33.3 MB | 37aed5b780ec |
| videos/observation.images.wrist/chunk-000/file-011.mp4 | Other | 32.5 MB | 3d8ac9be2949 |
| videos/observation.images.wrist/chunk-000/file-012.mp4 | Other | 30.0 MB | 42feb3fb5018 |
| videos/observation.images.wrist/chunk-000/file-013.mp4 | Other | 32.7 MB | f602a2e13fa8 |
| videos/observation.images.wrist/chunk-000/file-014.mp4 | Other | 33.8 MB | 8db1ee23973b |
| videos/observation.images.wrist/chunk-000/file-015.mp4 | Other | 36.9 MB | 89e0d56f4c6e |
| videos/observation.images.wrist/chunk-000/file-016.mp4 | Other | 35.2 MB | f0bfe92ef804 |
| videos/observation.images.wrist/chunk-000/file-017.mp4 | Other | 40.5 MB | 57a4086dec2a |
| videos/observation.images.wrist/chunk-000/file-018.mp4 | Other | 40.8 MB | 33a5e24fd02f |
| videos/observation.images.wrist/chunk-000/file-019.mp4 | Other | 32.6 MB | e314562d3e0f |
| videos/observation.images.wrist/chunk-000/file-020.mp4 | Other | 7.1 MB | 2c08ab7f5adf |
| videos/observation.images.wrist_depth/chunk-000/file-000.mp4 | Other | 139.7 MB | 1367fda582c0 |
| videos/observation.images.wrist_depth/chunk-000/file-001.mp4 | Other | 126.5 MB | 8870944ef764 |
| videos/observation.images.wrist_depth/chunk-000/file-002.mp4 | Other | 83.5 MB | 8db8e25f9b03 |
| videos/observation.images.wrist_depth/chunk-000/file-003.mp4 | Other | 140.2 MB | b57d364980cb |
| videos/observation.images.wrist_depth/chunk-000/file-004.mp4 | Other | 177.2 MB | 63c7b799f597 |
| videos/observation.images.wrist_depth/chunk-000/file-005.mp4 | Other | 75.0 MB | 1bce52bfdff0 |
| videos/observation.images.wrist_depth/chunk-000/file-006.mp4 | Other | 150.8 MB | 7338cda2ee87 |
| videos/observation.images.wrist_depth/chunk-000/file-007.mp4 | Other | 201.3 MB | 60003eefd791 |
| videos/observation.images.wrist_depth/chunk-000/file-008.mp4 | Other | 133.9 MB | b2e78fa6df56 |
| videos/observation.images.wrist_depth/chunk-000/file-009.mp4 | Other | 148.0 MB | 7bbe731c1b38 |
| videos/observation.images.wrist_depth/chunk-000/file-010.mp4 | Other | 66.8 MB | 3a9b1cf84082 |
| videos/observation.images.wrist_depth/chunk-000/file-011.mp4 | Other | 195.1 MB | 2a5edecc7ffb |
| videos/observation.images.wrist_depth/chunk-000/file-012.mp4 | Other | 154.3 MB | fd4ddd42d704 |
| videos/observation.images.wrist_depth/chunk-000/file-013.mp4 | Other | 191.4 MB | a3c3855713e2 |
| videos/observation.images.wrist_depth/chunk-000/file-014.mp4 | Other | 149.1 MB | a0950dc4b16c |
| videos/observation.images.wrist_depth/chunk-000/file-015.mp4 | Other | 182.5 MB | 0a51c475a18d |
| videos/observation.images.wrist_depth/chunk-000/file-016.mp4 | Other | 181.0 MB | ee9f32ed7141 |
| videos/observation.images.wrist_depth/chunk-000/file-017.mp4 | Other | 63.7 MB | d22997599b8f |
| videos/observation.images.wrist_depth/chunk-000/file-018.mp4 | Other | 145.5 MB | 341a11e4d0fc |
| videos/observation.images.wrist_depth/chunk-000/file-019.mp4 | Other | 130.1 MB | 666ace553f1f |
| videos/observation.images.wrist_depth/chunk-000/file-020.mp4 | Other | 85.1 MB | 9edfa4c375f1 |
| videos/observation.images.wrist_depth/chunk-000/file-021.mp4 | Other | 150.1 MB | 876e541a478a |
| videos/observation.images.wrist_depth/chunk-000/file-022.mp4 | Other | 181.8 MB | 51a88c236888 |
| videos/observation.images.wrist_depth/chunk-000/file-023.mp4 | Other | 197.1 MB | a6298fe83c5d |
| videos/observation.images.wrist_depth/chunk-000/file-024.mp4 | Other | 133.7 MB | 41dd4cadccf5 |
| videos/observation.images.wrist_depth/chunk-000/file-025.mp4 | Other | 142.5 MB | 390b92598611 |
| videos/observation.images.wrist_depth/chunk-000/file-026.mp4 | Other | 141.6 MB | fd3b10dbe9e3 |
| videos/observation.images.wrist_depth/chunk-000/file-027.mp4 | Other | 81.3 MB | d8b562d05a79 |
| videos/observation.images.wrist_depth/chunk-000/file-028.mp4 | Other | 142.6 MB | 5796b914e6b0 |
| videos/observation.images.wrist_depth/chunk-000/file-029.mp4 | Other | 207.3 MB | b60e797b6b46 |
| videos/observation.images.wrist_depth/chunk-000/file-030.mp4 | Other | 173.9 MB | 334d5af2fa26 |
| videos/observation.images.wrist_depth/chunk-000/file-031.mp4 | Other | 145.9 MB | c465dfde23d7 |
| videos/observation.images.wrist_depth/chunk-000/file-032.mp4 | Other | 150.9 MB | a02f32dd3134 |
| videos/observation.images.wrist_depth/chunk-000/file-033.mp4 | Other | 145.3 MB | ada94a492070 |
| videos/observation.images.wrist_depth/chunk-000/file-034.mp4 | Other | 69.3 MB | f69a669fd241 |
| videos/observation.images.wrist_depth/chunk-000/file-035.mp4 | Other | 147.1 MB | 9d4bddda87f2 |
| videos/observation.images.wrist_depth/chunk-000/file-036.mp4 | Other | 157.6 MB | b088dce92d87 |
| videos/observation.images.wrist_depth/chunk-000/file-037.mp4 | Other | 72.4 MB | 952c5ce685bd |
| videos/observation.images.wrist_depth/chunk-000/file-038.mp4 | Other | 143.5 MB | 7cc43fd8bc59 |
| videos/observation.images.wrist_depth/chunk-000/file-039.mp4 | Other | 174.8 MB | 46d4577ea410 |
| videos/observation.images.wrist_depth/chunk-000/file-040.mp4 | Other | 71.9 MB | 46021b574d4b |
| videos/observation.images.wrist_depth/chunk-000/file-041.mp4 | Other | 139.2 MB | 88470cf982ad |
| videos/observation.images.wrist_depth/chunk-000/file-042.mp4 | Other | 158.9 MB | 2d5eb02e69b9 |
| videos/observation.images.wrist_depth/chunk-000/file-043.mp4 | Other | 75.5 MB | 4407103b7ac5 |
| videos/observation.images.wrist_depth/chunk-000/file-044.mp4 | Other | 177.3 MB | acfba79067b3 |
| videos/observation.images.wrist_depth/chunk-000/file-045.mp4 | Other | 168.5 MB | abdb25cb0402 |
| videos/observation.images.wrist_depth/chunk-000/file-046.mp4 | Other | 80.9 MB | f4e62a8846d5 |
| videos/observation.images.wrist_depth/chunk-000/file-047.mp4 | Other | 201.8 MB | a93698cfda7f |
| videos/observation.images.wrist_depth/chunk-000/file-048.mp4 | Other | 158.2 MB | c0fb0eba3ff1 |
| videos/observation.images.wrist_depth/chunk-000/file-049.mp4 | Other | 63.3 MB | 715ce30b3cfc |
| videos/observation.images.wrist_depth/chunk-000/file-050.mp4 | Other | 139.0 MB | 0ef214cc69e9 |
| videos/observation.images.wrist_depth/chunk-000/file-051.mp4 | Other | 202.4 MB | 13e9347f370e |
| videos/observation.images.wrist_depth/chunk-000/file-052.mp4 | Other | 73.1 MB | ceceb7de486b |
| .gitattributes | Repository | 2.5 KB | — |
License and Download
- License
- Not stated by the source
- Access
- No access gate
Download from Anuj Zore
Released by Anuj Zore through its official repository on Hugging Face.