| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - ur10 |
| - robotiq |
| - tactile |
| - depth |
| - cluttered-grasping |
| - imitation-learning |
| configs: |
| - config_name: default |
| data_files: data/*/*.parquet |
| --- |
| |
| # Cluttered Grasp (UR10 + Robotiq 2F-140 + tactile + depth) |
|
|
| Real-robot teleop demonstrations of cluttered grasping. Episodes are gated on |
| `gripper_tcp` height in `base_link` (record while low, pause while high), time-synced |
| to the RealSense **RGB master @ 30 Hz**, then converted to |
| [LeRobot](https://github.com/huggingface/lerobot) format. |
|
|
| | | | |
| |---|---| |
| | **Robot** | UR10 + Robotiq 2F-140 (`ur10_robotiq_2f140`) | |
| | **FPS** | **30** (RGB master timeline) | |
| | **Episodes** | 103 | |
| | **Frames** | 23943 | |
| | **Codebase** | LeRobot dataset v3.0 | |
| | **Task** | `cluttered grasping` | |
|
|
| ## Sensors & resolutions |
|
|
| | Stream | Capture (ROS) | Dataset feature | Shape (H×W×C) | Aspect | |
| |--------|---------------|-----------------|---------------|--------| |
| | Center RGB | RealSense color `1280×720@30` JPEG | `observation.images.center_cam` | **720×1280×3** | 16:9 | |
| | Depth | Depth module **`848×480@30`**, published as `aligned_depth_to_color` → resampled into the color grid | `observation.images.center_cam_depth` | **720×1280×1** (uint16 mm, video12) | 16:9 (aligned) | |
| | Tactile L | Fingertip cam JPEG (~90 Hz capture, hold-last to RGB) | `observation.images.tactile_L` | **240×320×3** | 4:3 | |
| | Tactile R | same | `observation.images.tactile_R` | **240×320×3** | 4:3 | |
|
|
| - **Master clock:** compressed RGB frames — one dataset row per RGB stamp (~30 Hz). |
| - **Sync:** nearest-neighbor within ~50 ms, then hold-last for depth/tactile/proprio. |
| - **Depth note:** the D4xx **depth module** runs at **480p** (`848×480`). Hardware align-to-color writes depth in **RGB resolution**, so the stored/LeRobot depth video is **1280×720** (same pixels as `center_cam`), unit **millimetres**. |
| - Depth export modes used for this release: **12-bit `gray12le` HEVC** (`video12`), log-quantized over **0.2–1.0 m**. |
|
|
| ## Dataset structure |
|
|
| ```text |
| cluttered_grasping/ |
| ├── meta/ |
| │ ├── info.json # schema, fps, totals, video codec info |
| │ ├── stats.json # per-feature normalization stats |
| │ ├── tasks.parquet # task prompts |
| │ └── episodes/ # per-episode metadata |
| ├── data/ |
| │ └── chunk-*/file-*.parquet # state, action, indices |
| └── videos/ |
| ├── observation.images.center_cam/chunk-*/file-*.mp4 # AV1, 1280×720 |
| ├── observation.images.center_cam_depth/chunk-*/file-*.mp4 # HEVC gray12le depth |
| ├── observation.images.tactile_L/chunk-*/file-*.mp4 # AV1, 320×240 |
| └── observation.images.tactile_R/chunk-*/file-*.mp4 |
| ``` |
|
|
| ### Features (per frame) |
|
|
| | Key | Type | Shape | Description | |
| |-----|------|-------|-------------| |
| | `observation.state` | float32 | (14,) | `joint_0..5`, `gripper`, `eef_x/y/z`, `eef_qx/qy/qz/qw` (xyzw) | |
| | `action` | float32 | (7,) | Absolute **next** `joint_0..5` + `gripper` (last frame of each episode dropped) | |
| | `grasp_state` | int64 | (1,) | Exclusive grasp phase at observation `t`: `0` no_contact, `1` contact, `2` closure, `3` lift, `4` success | |
| | `next.success` | float32 | (1,) | `1.0` on the frame **before** a transition into `success` (`labels[t]≠4` and `labels[t+1]==4`); else `0` | |
| | `next.done` | float32 | (1,) | Same pulse as `next.success` (task/terminal success co-located with that transition) | |
| | `observation.images.center_cam` | video (AV1) | 720×1280×3 | Scene RealSense RGB | |
| | `observation.images.center_cam_depth` | video (HEVC gray12le) | 720×1280×1 | Aligned depth, mm; `is_depth_map` | |
| | `observation.images.tactile_L` | video (AV1) | 240×320×3 | Left fingertip tactile (`/tactile1`) | |
| | `observation.images.tactile_R` | video (AV1) | 240×320×3 | Right fingertip tactile (`/tactile2`) | |
| | `timestamp` | float32 | (1,) | Time within episode (s) | |
| | `frame_index` / `episode_index` / `index` / `task_index` | int64 | (1,) | LeRobot indices | |
|
|
| `observation.state` EE pose is `gripper_tcp` in `base_link`. Wrist force/torque is **not** exported to LeRobot (still present in upstream zarr if needed). |
|
|
| **Label example:** if phase history is `…, contact, contact, success, success, …`, then only the last `contact` frame has `next.success = next.done = 1.0`. |
|
|
| ### Episode definition |
|
|
| - **Start** when TCP \(z < 0.32\) m |
| - **End** when TCP \(z > 0.33\) m |
| - No recording between episodes (reset / high) |
|
|
| ## Load |
|
|
| ```python |
| from lerobot.datasets.lerobot_dataset import LeRobotDataset |
| |
| ds = LeRobotDataset("benudavis/cluttered_grasp") |
| print(ds) |
| frame = ds[0] |
| # RGB / tactile: frame["observation.images.center_cam"], ... |
| # Depth (mm-quantized video12): frame["observation.images.center_cam_depth"] |
| # Phases / returns: |
| # frame["grasp_state"] # int64 phase id |
| # frame["next.success"] # 1.0 before successful grasp onset |
| # frame["next.done"] # same as next.success |
| ``` |
|
|
| ## Collection / conversion notes |
|
|
| - ROS bags → one zarr episode per bag (`bag2dataset` under `~/venvs/clutter`, zarr≥3). |
| - Offline rebuild: `scripts/zarr_to_lerobot.py --fps 30 --depth-mode video12` over `~/EDG_Experiment/clutter/**/*.zarr`. |
| - Phase labels: `scripts/label_grasp_states.py` (Streamlit) writes `data/obs/policy/grasp_state` and, on **Save** / **Save all**, derived `next_success` / `next_done` on each episode zarr. |
| - Converter recomputes `next.success` / `next.done` from `grasp_state` and trims leading NaN policy frames (delayed joint/TF after record start). |
| - Auto-label may set contact/success from tactile blob area; only terminal success runs (touching episode end) stay `success`. |
| - Action mode default: `absolute_next` (see `scripts/lerobot_convert/actions.py`). |
| - Upload: `scripts/upload_lerobot_hf.py` (copies this card to the dataset root as `README.md`). |
|
|
