| --- |
| license: cc-by-4.0 |
| language: |
| - en |
| --- |
| <table> |
| <tr> |
| <td valign="center" width="15%"> |
| </td> |
| <td valign="center" width="24%"> |
| <video width="98%" controls> |
| <source src="https://huggingface.co/datasets/aya-s/random_box_to_jig/resolve/main/part_jig_v1.mp4" type="video/mp4"> |
| </video> |
| </td> |
| <td valign="center" width="20%"> |
| <img src="https://huggingface.co/datasets/aya-s/random_box_to_jig/resolve/main/20260816_165002~2.jpg" width="100%"><br> |
| <img src="https://huggingface.co/datasets/aya-s/random_box_to_jig/resolve/main/20260816_164936.jpg" width="100%"><br> |
| </td> |
| <td halign="middle" width="25%"> |
| <p align="center"> </p> |
| <img src="https://huggingface.co/datasets/aya-s/random_box_to_jig/resolve/main/20260816_165030.jpg" width="110%"><br> |
| </td> |
| <td valign="center" width="20%"> |
| </td> |
| </tr> |
| </table> |
| |
|
|
| # 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": { |
| "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_front_depth": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 1 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "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": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 1 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "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 |
| } |
| }, |
| "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 |
| } |
| }, |
| "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" |
| } |
| } |
| ``` |
