ko-br/bulb_in_socket

About

The episodes in this dataset are pick and place sequences. A light bulb is picked up from a random position on the wooden tabletop and placed in the socket, also on the wooden tabletop.

Dataset summary

Field	Value
Robot	UR10e (6-DoF)
Gripper	Robotiq Hand-E
Cameras	Intel Realsense 435
Episodes	23
Frames	15,548
Tasks / language instructions	pick up the bulb and place it in the socket

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]

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Dataset Structure