Datasets:

pranavsaroha
/

aic-cheatcode-ds-v1

@@ -4,76 +4,239 @@ task_categories:
 - robotics
 tags:
 - LeRobot
-- aic
-- ur5e
-- cable-insertion
-size_categories:
-- 1K<n<10K
 configs:
 - config_name: default
-  data_files:
-  - split: train
-    path: data/*/*.parquet
 ---
 This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
-## Dataset Description
-Expert demonstrations of optical cable insertion using the UR5e robot in the
-[AI for Industry Challenge](https://aiforindustrychallenge.com) 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:** 166
-- **Frames:** 74328
-- **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_stiffness` diag: [90, 90, 90, 50, 50, 50]
-- `target_damping`   diag: [50, 50, 50, 20, 20, 20]
-- `wrench_feedback_gains_at_tip`: [0.5] * 6
-- `feedforward_wrench_at_tip`: 0
-- `trajectory_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: 60
-- 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

 - robotics
 tags:
 - LeRobot
 configs:
 - config_name: default
+  data_files: data/*/*.parquet
 ---
 This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
+<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=pranavsaroha/aic-cheatcode-ds-v1">
+<img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/>
+<img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/>
+</a>
+## Dataset Description
+- **Homepage:** [More Information Needed]
+- **Paper:** [More Information Needed]
+- **License:** apache-2.0
+## Dataset Structure
+[meta/info.json](meta/info.json):
+```json
+{
+    "codebase_version": "v3.0",
+    "fps": 20,
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "names": [
+                "pose.position.x",
+                "pose.position.y",
+                "pose.position.z",
+                "pose.orientation.x",
+                "pose.orientation.y",
+                "pose.orientation.z",
+                "pose.orientation.w"
+            ],
+            "shape": [
+                7
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                46
+            ],
+            "names": [
+                "tcp_pose.position.x",
+                "tcp_pose.position.y",
+                "tcp_pose.position.z",
+                "tcp_pose.orientation.x",
+                "tcp_pose.orientation.y",
+                "tcp_pose.orientation.z",
+                "tcp_pose.orientation.w",
+                "tcp_velocity.linear.x",
+                "tcp_velocity.linear.y",
+                "tcp_velocity.linear.z",
+                "tcp_velocity.angular.x",
+                "tcp_velocity.angular.y",
+                "tcp_velocity.angular.z",
+                "joint_positions.0",
+                "joint_positions.1",
+                "joint_positions.2",
+                "joint_positions.3",
+                "joint_positions.4",
+                "joint_positions.5",
+                "joint_positions.6",
+                "joint_velocities.0",
+                "joint_velocities.1",
+                "joint_velocities.2",
+                "joint_velocities.3",
+                "joint_velocities.4",
+                "joint_velocities.5",
+                "joint_velocities.6",
+                "joint_efforts.0",
+                "joint_efforts.1",
+                "joint_efforts.2",
+                "joint_efforts.3",
+                "joint_efforts.4",
+                "joint_efforts.5",
+                "joint_efforts.6",
+                "wrist_wrench.force.x",
+                "wrist_wrench.force.y",
+                "wrist_wrench.force.z",
+                "wrist_wrench.torque.x",
+                "wrist_wrench.torque.y",
+                "wrist_wrench.torque.z",
+                "fts_tare_offset.force.x",
+                "fts_tare_offset.force.y",
+                "fts_tare_offset.force.z",
+                "fts_tare_offset.torque.x",
+                "fts_tare_offset.torque.y",
+                "fts_tare_offset.torque.z"
+            ]
+        },
+        "observation.contact": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": [
+                "off_limit_contact"
+            ]
+        },
+        "observation.images.left_camera": {
+            "dtype": "video",
+            "shape": [
+                256,
+                288,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 256,
+                "video.width": 288,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 20,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.center_camera": {
+            "dtype": "video",
+            "shape": [
+                256,
+                288,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 256,
+                "video.width": 288,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 20,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.right_camera": {
+            "dtype": "video",
+            "shape": [
+                256,
+                288,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 256,
+                "video.width": 288,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 20,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "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": 166,
+    "total_frames": 74328,
+    "total_tasks": 12,
+    "chunks_size": 1000,
+    "data_files_size_in_mb": 29.7,
+    "video_files_size_in_mb": 99.1,
+    "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": "ur5e_aic",
+    "splits": {
+        "train": "0:166"
+    }
+}
+```
+## Citation
+**BibTeX:**
+```bibtex
+[More Information Needed]
+```