--- 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": { "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" } } ```