Search is not available for this dataset
observation.state listlengths 46 46 | observation.contact listlengths 1 1 | action listlengths 7 7 | timestamp float64 0 28.6 | frame_index int64 0 571 | episode_index int64 0 14 | index int64 0 6.26k | task_index int64 0 8 |
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End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Description
Expert demonstrations of optical cable insertion using the UR5e robot in the AI for Industry Challenge simulation. Demonstrations were generated using the CheatCode policy (ground-truth TF transforms). v1 dataset adds force/torque sensor data, joint velocities/efforts, contact flag, structured task metadata, and uses the commanded pose target as the action signal.
- Episodes: 15
- Frames: 6260
- FPS: 20
- Cameras: left, center, right (256x288, AV1)
- Action space: absolute Cartesian pose target = [pose.x, pose.y, pose.z, pose.qx, pose.qy, pose.qz, pose.qw]
- State space (46 dims):
- TCP pose (7): position xyz + quaternion xyzw
- TCP velocity (6): linear xyz + angular xyz
- Joint positions (7)
- Joint velocities (7)
- Joint efforts (7)
- Wrist wrench (6): force xyz + torque xyz (post-tare)
- F/T tare offset (6): the bias removed by the tare service
- Per-frame off-limit contact flag (1 dim): 1.0 if the gripper or arm contacted an off-limit zone (enclosure walls, task board frame) within ±25ms of the frame, else 0.0.
- Episode metadata includes structured task fields:
cable_type,plug_type,port_type,port_name,target_module_name,time_limit, and the original trial key.
Robot
- Universal Robots UR5e arm
- Robotiq Hand-E gripper
- ATI AXIA80-M20 6-axis force/torque sensor at the wrist
- 3 Basler acA2440-20gc wrist cameras with Edmunds 58-000 lenses (1152x1024 native, downsampled to 256x288 for training)
Controller
The policy outputs 7-dim absolute pose targets. At submission time, these are wrapped in MotionUpdate messages with constant impedance:
target_stiffnessdiag: [90, 90, 90, 50, 50, 50]target_dampingdiag: [50, 50, 50, 20, 20, 20]wrench_feedback_gains_at_tip: [0.5] * 6feedforward_wrench_at_tip: 0trajectory_generation_mode: MODE_POSITION
These constants match what CheatCode used during data collection (verified by inspecting recorded MotionUpdate messages — all values constant across all 1590 messages of a representative trial).
Source
- Source runs: 5
- Generator script:
~/generate_aic_configs.py - Collection script:
~/collect_all.sh - Bag-to-LeRobot converter:
~/bag_to_lerobot.py - AIC toolkit: https://github.com/intrinsic-dev/aic
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