metadata
license: cc-by-4.0
language:
- en
  |
 |
About
The episodes in this dataset are pick and place sequences. Metal parts are picked form a yellow box and placed in designated pockets to the left of the yellow box.
Dataset summary
| Field | Value |
|---|---|
| Robot | UR10e (6-DoF) |
| Gripper | Robotiq Hand-E |
| Cameras | Intel Realsense 435 |
| Episodes | 3 |
| Frames | 2,467 |
| Tasks / language instructions | pick item up from box and place it in the jig |
Feature dictionary (all columns)
Shapes below match meta/info.json. LeRobot standard index columns (timestamp, frame_index, episode_index, index, task_index) are also present.
Observations
| Feature | Dtype / shape | Names / semantics |
|---|---|---|
observation.state |
float32 [6] |
Joint positions: Base, Shoulder, Elbow, Wrist 1, Wrist 2, Wrist 3 (rad) |
observation.ee_pose |
float32 [6] |
TCP pose [x, y, z, rx, ry, rz] (m / UR rotation vector) |
observation.ee_force_torque |
float32 [6] |
TCP wrench [Fx, Fy, Fz, Tx, Ty, Tz] |
observation.gripper_state |
float32 [1] |
Measured aperture POS/255 in [0, 1] (0 open, 1 closed) |
observation.gripper_current |
float32 [1] |
Motor current (A) ≈ COU * 0.01 |
observation.gripper_object |
float32 [1] |
Hand-E OBJ: 0 moving, 1 outer stop, 2 inner stop, 3 at request |
observation.gripper_status |
float32 [1] |
Hand-E STA: 0 reset, 1 activating, 3 active |
observation.gripper_fault |
float32 [1] |
Hand-E FLT code (0 = none) |
observation.gripper_position_request_echo |
float32 [1] |
PRE/255 last commanded position echo |
observation.gripper_speed_request_echo |
float32 [1] |
SPE/255 last commanded speed echo |
observation.gripper_force_request_echo |
float32 [1] |
FOR/255 last commanded force echo |
Actions
| Feature | Dtype / shape | Names / semantics |
|---|---|---|
action |
float32 [9] |
See action layout below |
action.ee_pose_next |
float32 [6] |
Observed TCP at t+1 (last frame repeats t); filled on assemble/export |
action.ee_pose_delta |
float32 [6] |
Observed ee_pose[t+1] - ee_pose[t] (last frame zeros); filled on assemble/export |
action layout (always 9-D):
| Index | joint_positions names |
ee_pose_delta names |
Source |
|---|---|---|---|
| 0…5 | Base…Wrist 3 | x…rz | Sticky commanded cmd_joint_positions or cmd_ee_pose_delta (export-time choice) |
| 6 | gripper |
gripper |
Commanded cmd_gripper (SET POS), recorded at send time |
| 7 | gripper_speed |
gripper_speed |
Commanded cmd_gripper_speed (SET SPE), send time |
| 8 | gripper_force |
gripper_force |
Commanded cmd_gripper_force (SET FOR), send time |
Until the first grip command in an episode, indices 6–8 are 0. They are not filled from observed gripper state.
Look-ahead features (action.ee_pose_*) are derived from observed TCP and are the intended arm supervision for freemotion / freedrive demos when commanded arm channels are empty.
Cameras (RGB + depth)
Present when the corresponding feed was recorded. Depth keys use LeRobot native *_depth video features.
| Feature | Modality |
|---|---|
observation.images.workspace_front |
Wrist Camera, RGB video |
observation.images.workspace_side |
Workspace Camera, RGB video |
observation.images.workspace_front_depth |
Wrist Camera, Depth video |
observation.images.workspace_side_depth |
Workspace Camera, Depth video |
Maintainers
- Contact:
[aya@ko-br.com],[info@ko-br.com]
Dataset Structure
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
6
],
"names": [
"Base",
"Shoulder",
"Elbow",
"Wrist 1",
"Wrist 2",
"Wrist 3"
]
},
"observation.ee_pose": {
"dtype": "float32",
"shape": [
6
],
"names": [
"x",
"y",
"z",
"rx",
"ry",
"rz"
]
},
"observation.ee_force_torque": {
"dtype": "float32",
"shape": [
6
],
"names": [
"Fx",
"Fy",
"Fz",
"Tx",
"Ty",
"Tz"
]
},
"observation.gripper_state": {
"dtype": "float32",
"shape": [
1
],
"names": [
"gripper_state"
]
},
"observation.gripper_current": {
"dtype": "float32",
"shape": [
1
],
"names": [
"gripper_current"
]
},
"observation.gripper_object": {
"dtype": "float32",
"shape": [
1
],
"names": [
"gripper_object"
]
},
"observation.gripper_status": {
"dtype": "float32",
"shape": [
1
],
"names": [
"gripper_status"
]
},
"observation.gripper_fault": {
"dtype": "float32",
"shape": [
1
],
"names": [
"gripper_fault"
]
},
"observation.gripper_position_request_echo": {
"dtype": "float32",
"shape": [
1
],
"names": [
"gripper_position_request_echo"
]
},
"observation.gripper_speed_request_echo": {
"dtype": "float32",
"shape": [
1
],
"names": [
"gripper_speed_request_echo"
]
},
"observation.gripper_force_request_echo": {
"dtype": "float32",
"shape": [
1
],
"names": [
"gripper_force_request_echo"
]
},
"action": {
"dtype": "float32",
"shape": [
9
],
"names": [
"Base",
"Shoulder",
"Elbow",
"Wrist 1",
"Wrist 2",
"Wrist 3",
"gripper",
"gripper_speed",
"gripper_force"
]
},
"action.ee_pose_next": {
"dtype": "float32",
"shape": [
6
],
"names": [
"x",
"y",
"z",
"rx",
"ry",
"rz"
]
},
"action.ee_pose_delta": {
"dtype": "float32",
"shape": [
6
],
"names": [
"x",
"y",
"z",
"rx",
"ry",
"rz"
]
},
"observation.images.workspace_front": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {},
"is_depth_map": false
}
},
"observation.images.workspace_side": {
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"shape": [
480,
640,
3
],
"names": [
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"channels"
],
"info": {
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"video.g": 2,
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"video.fast_decode": 0,
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}
},
"observation.images.workspace_front_depth": {
"dtype": "video",
"shape": [
480,
640,
1
],
"names": [
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],
"info": {
"is_depth_map": true,
"depth_unit": "mm",
"video.height": 480,
"video.width": 640,
"video.codec": "hevc",
"video.pix_fmt": "gray12le",
"video.fps": 30,
"video.channels": 1,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": null,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {
"x265-params": "lossless=1"
},
"video.depth_min": 0.05,
"video.depth_max": 2.0,
"video.shift": 3.5,
"video.use_log": true
}
},
"observation.images.workspace_side_depth": {
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"shape": [
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],
"names": [
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"info": {
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"video.height": 480,
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"video.codec": "hevc",
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},
"timestamp": {
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"names": null
},
"frame_index": {
"dtype": "int64",
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"names": null
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"episode_index": {
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"index": {
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"task_index": {
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}
},
"total_episodes": 3,
"total_frames": 2467,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"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",
"robot_type": null,
"splits": {
"train": "0:3"
}
}