Add UR5e cube stacking teleop dataset

README.md

@@ -1,274 +1,32 @@
 ---
+language:
+- en
 license: apache-2.0
+tags:
+- robotics
+- dataset
+- lerobot
+- ur5e
 task_categories:
 - robotics
-tags:
-- LeRobot
+pretty_name: UR5e Dual RealSense Haptic Teleop Dataset (LeRobot v2.1)
 configs:
 - config_name: default
-  data_files: data/*/*.parquet
+  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=sk1700/UrCubeStack">
-<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",
-    "robot_type": "ur5e",
-    "total_episodes": 1,
-    "total_frames": 2011,
-    "total_tasks": 1,
-    "chunks_size": 1000,
-    "fps": 30,
-    "splits": {
-        "train": "0:1"
-    },
-    "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",
-    "camera_keys": [
-        "observation.images.wrist",
-        "observation.images.front"
-    ],
-    "features": {
-        "action": {
-            "dtype": "float32",
-            "shape": [
-                7
-            ],
-            "names": [
-                "shoulder_pan.next_pos",
-                "shoulder_lift.next_pos",
-                "elbow_flex.next_pos",
-                "wrist_1.next_pos",
-                "wrist_2.next_pos",
-                "wrist_3.next_pos",
-                "gripper.next_pos"
-            ],
-            "fps": 30
-        },
-        "observation.state": {
-            "dtype": "float32",
-            "shape": [
-                7
-            ],
-            "names": [
-                "shoulder_pan.pos",
-                "shoulder_lift.pos",
-                "elbow_flex.pos",
-                "wrist_1.pos",
-                "wrist_2.pos",
-                "wrist_3.pos",
-                "gripper.pos"
-            ],
-            "fps": 30
-        },
-        "observation.images.wrist": {
-            "dtype": "video",
-            "shape": [
-                480,
-                640,
-                3
-            ],
-            "names": [
-                "height",
-                "width",
-                "channels"
-            ],
-            "info": {
-                "video.height": 480,
-                "video.width": 640,
-                "video.codec": "avc1",
-                "video.pix_fmt": "yuv420p",
-                "video.is_depth_map": false,
-                "video.fps": 30,
-                "video.channels": 3,
-                "has_audio": false
-            }
-        },
-        "observation.images.front": {
-            "dtype": "video",
-            "shape": [
-                480,
-                640,
-                3
-            ],
-            "names": [
-                "height",
-                "width",
-                "channels"
-            ],
-            "info": {
-                "video.height": 480,
-                "video.width": 640,
-                "video.codec": "avc1",
-                "video.pix_fmt": "yuv420p",
-                "video.is_depth_map": false,
-                "video.fps": 30,
-                "video.channels": 3,
-                "has_audio": false
-            }
-        },
-        "timestamp": {
-            "dtype": "float32",
-            "shape": [
-                1
-            ],
-            "names": null,
-            "fps": 30
-        },
-        "frame_index": {
-            "dtype": "int64",
-            "shape": [
-                1
-            ],
-            "names": null,
-            "fps": 30
-        },
-        "episode_index": {
-            "dtype": "int64",
-            "shape": [
-                1
-            ],
-            "names": null,
-            "fps": 30
-        },
-        "index": {
-            "dtype": "int64",
-            "shape": [
-                1
-            ],
-            "names": null,
-            "fps": 30
-        },
-        "task_index": {
-            "dtype": "int64",
-            "shape": [
-                1
-            ],
-            "names": null,
-            "fps": 30
-        }
-    },
-    "stats": {
-        "action": {
-            "min": [
-                -0.4719284176826477,
-                -1.083202600479126,
-                1.131264567375183,
-                -2.1201283931732178,
-                -1.5940574407577515,
-                -0.6380365490913391,
-                45.79999923706055
-            ],
-            "max": [
-                -0.24826937913894653,
-                -0.7765448689460754,
-                1.5499972105026245,
-                -1.8114920854568481,
-                -1.5860241651535034,
-                -0.13784343004226685,
-                150.8000030517578
-            ],
-            "mean": [
-                -0.38336625041681877,
-                -0.9233003909584303,
-                1.3056504370145452,
-                -1.9878923144878764,
-                -1.5891635341468822,
-                -0.38939836376760206,
-                68.38020866276435
-            ],
-            "std": [
-                0.08732317680810911,
-                0.06663771363537135,
-                0.09076540114269227,
-                0.061248604605212614,
-                0.003087044900837268,
-                0.1465308571965129,
-                29.48416036189623
-            ]
-        },
-        "observation.state": {
-            "min": [
-                -0.4719284176826477,
-                -1.083426833152771,
-                1.131264567375183,
-                -2.1201283931732178,
-                -1.5940574407577515,
-                -0.6380365490913391,
-                45.79999923706055
-            ],
-            "max": [
-                -0.24826937913894653,
-                -0.7765448689460754,
-                1.5504931211471558,
-                -1.8114920854568481,
-                -1.5860241651535034,
-                -0.13784343004226685,
-                150.8000030517578
-            ],
-            "mean": [
-                -0.3833687315824197,
-                -0.9233364531615669,
-                1.3057277204384559,
-                -1.9879336561627912,
-                -1.5891635526418093,
-                -0.38934873452772256,
-                68.39249110779082
-            ],
-            "std": [
-                0.08732260307097349,
-                0.06670470247547453,
-                0.09090756557370962,
-                0.06127760702371306,
-                0.0030870510550819598,
-                0.14652196435216963,
-                29.485769828618427
-            ]
-        },
-        "timestamp": {
-            "min": [
-                0.0
-            ],
-            "max": [
-                67.0
-            ],
-            "mean": [
-                33.5
-            ],
-            "std": [
-                19.350854873657227
-            ]
-        }
-    },
-    "data_files_size_in_mb": 100,
-    "video_files_size_in_mb": 200
-}
-```
-
+# UR5e Dual RealSense Haptic Teleoperation Dataset (LeRobot v2.1)
 
-## Citation
+- Control loop: ~500 Hz (RTDE)
+- Dataset sampling: fixed 30 Hz
+- Gripper: OnRobot RG6 — haptic btn1=open, btn2=close
+- Rotation: hold V + R (+Z) / E (-Z)
 
-**BibTeX:**
+State / action layout (7-dim, pi0-compatible):
+- dim 0-5 : UR5e joint positions (rad)
+- dim 6   : gripper width (mm, absolute)  closed=10.6  open=160.2
 
-```bibtex
-[More Information Needed]
-```
+Definitions:
+- observation.state[t] = [q0..q5, gripper_mm] at time t
+- action[t]            = [q0..q5, gripper_mm] at time t+1  (next-step absolute)

data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b20342c47740b084e548d5f57e627c05fe69b0cddcd1684378627ed7d51a37c
+size 83011

meta/episodes.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "tasks": ["stck the cuves"], "length": 803}

meta/episodes_stats.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "stats": {"action": {"min": [-0.4582837224006653, -1.0700711011886597, 1.034899115562439, -2.090411424636841, -1.5941447019577026, -0.9122803807258606, 45.79999923706055], "max": [-0.23623734712600708, -0.7735782265663147, 1.5556496381759644, -1.8442116975784302, -1.5862668752670288, -0.017135445028543472, 101.30000305175781], "mean": [-0.3428954881422249, -0.8384033572183897, 1.158679481906582, -1.924902959897242, -1.5903754223922122, -0.5668870355344724, 58.49090854079459], "std": [0.08960543205762056, 0.05877984482605197, 0.11141874876471755, 0.06442294443822082, 0.003206262676393901, 0.21607498909384287, 14.388609058023627], "count": [803]}, "observation.state": {"min": [-0.4582837224006653, -1.0700711011886597, 1.034899115562439, -2.090411424636841, -1.5941447019577026, -0.9122803807258606, 45.79999923706055], "max": [-0.23623734712600708, -0.7735782265663147, 1.5556496381759644, -1.8442116975784302, -1.5862668752670288, -0.017135445028543472, 101.30000305175781], "mean": [-0.3428340123718138, -0.8387668662023723, 1.1593171016662236, -1.925176092132388, -1.5903784930334888, -0.5667821877725321, 58.442340665558355], "std": [0.08958222660848777, 0.05928673471347038, 0.11218018737812349, 0.06464226787051472, 0.0032053912512283607, 0.21615871076093685, 14.30963191641381], "count": [803]}, "timestamp": {"min": [0.0], "max": [26.733333587646484], "mean": [13.366666668030906], "std": [7.726865111930445], "count": [803]}, "frame_index": {"min": [0.0], "max": [802.0], "mean": [401.0], "std": [231.80595333166056], "count": [803]}, "episode_index": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [803]}, "index": {"min": [0.0], "max": [802.0], "mean": [401.0], "std": [231.80595333166056], "count": [803]}, "task_index": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": [803]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.485]], [[0.456]], [[0.406]]], "std": [[[0.229]], [[0.224]], [[0.225]]], "count": [803]}, "observation.images.front": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.485]], [[0.456]], [[0.406]]], "std": [[[0.229]], [[0.224]], [[0.225]]], "count": [803]}}}

meta/info.json

@@ -1,232 +1,225 @@
 {
-    "codebase_version": "v3.0",
-    "robot_type": "ur5e",
-    "total_episodes": 1,
-    "total_frames": 2011,
-    "total_tasks": 1,
-    "chunks_size": 1000,
-    "fps": 30,
-    "splits": {
-        "train": "0:1"
+  "codebase_version": "v2.1",
+  "robot_type": "ur5e",
+  "total_episodes": 1,
+  "total_frames": 803,
+  "total_tasks": 1,
+  "total_videos": 2,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:1"
+  },
+  "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+  "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+  "camera_keys": [
+    "observation.images.wrist",
+    "observation.images.front"
+  ],
+  "features": {
+    "action": {
+      "dtype": "float32",
+      "shape": [
+        7
+      ],
+      "names": [
+        "shoulder_pan.next_pos",
+        "shoulder_lift.next_pos",
+        "elbow_flex.next_pos",
+        "wrist_1.next_pos",
+        "wrist_2.next_pos",
+        "wrist_3.next_pos",
+        "gripper.next_pos"
+      ]
     },
-    "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",
-    "camera_keys": [
-        "observation.images.wrist",
-        "observation.images.front"
-    ],
-    "features": {
-        "action": {
-            "dtype": "float32",
-            "shape": [
-                7
-            ],
-            "names": [
-                "shoulder_pan.next_pos",
-                "shoulder_lift.next_pos",
-                "elbow_flex.next_pos",
-                "wrist_1.next_pos",
-                "wrist_2.next_pos",
-                "wrist_3.next_pos",
-                "gripper.next_pos"
-            ],
-            "fps": 30
-        },
-        "observation.state": {
-            "dtype": "float32",
-            "shape": [
-                7
-            ],
-            "names": [
-                "shoulder_pan.pos",
-                "shoulder_lift.pos",
-                "elbow_flex.pos",
-                "wrist_1.pos",
-                "wrist_2.pos",
-                "wrist_3.pos",
-                "gripper.pos"
-            ],
-            "fps": 30
-        },
-        "observation.images.wrist": {
-            "dtype": "video",
-            "shape": [
-                480,
-                640,
-                3
-            ],
-            "names": [
-                "height",
-                "width",
-                "channels"
-            ],
-            "info": {
-                "video.height": 480,
-                "video.width": 640,
-                "video.codec": "avc1",
-                "video.pix_fmt": "yuv420p",
-                "video.is_depth_map": false,
-                "video.fps": 30,
-                "video.channels": 3,
-                "has_audio": false
-            }
-        },
-        "observation.images.front": {
-            "dtype": "video",
-            "shape": [
-                480,
-                640,
-                3
-            ],
-            "names": [
-                "height",
-                "width",
-                "channels"
-            ],
-            "info": {
-                "video.height": 480,
-                "video.width": 640,
-                "video.codec": "avc1",
-                "video.pix_fmt": "yuv420p",
-                "video.is_depth_map": false,
-                "video.fps": 30,
-                "video.channels": 3,
-                "has_audio": false
-            }
-        },
-        "timestamp": {
-            "dtype": "float32",
-            "shape": [
-                1
-            ],
-            "names": null,
-            "fps": 30
-        },
-        "frame_index": {
-            "dtype": "int64",
-            "shape": [
-                1
-            ],
-            "names": null,
-            "fps": 30
-        },
-        "episode_index": {
-            "dtype": "int64",
-            "shape": [
-                1
-            ],
-            "names": null,
-            "fps": 30
-        },
-        "index": {
-            "dtype": "int64",
-            "shape": [
-                1
-            ],
-            "names": null,
-            "fps": 30
-        },
-        "task_index": {
-            "dtype": "int64",
-            "shape": [
-                1
-            ],
-            "names": null,
-            "fps": 30
-        }
+    "observation.state": {
+      "dtype": "float32",
+      "shape": [
+        7
+      ],
+      "names": [
+        "shoulder_pan.pos",
+        "shoulder_lift.pos",
+        "elbow_flex.pos",
+        "wrist_1.pos",
+        "wrist_2.pos",
+        "wrist_3.pos",
+        "gripper.pos"
+      ]
     },
-    "stats": {
-        "action": {
-            "min": [
-                -0.4719284176826477,
-                -1.083202600479126,
-                1.131264567375183,
-                -2.1201283931732178,
-                -1.5940574407577515,
-                -0.6380365490913391,
-                45.79999923706055
-            ],
-            "max": [
-                -0.24826937913894653,
-                -0.7765448689460754,
-                1.5499972105026245,
-                -1.8114920854568481,
-                -1.5860241651535034,
-                -0.13784343004226685,
-                150.8000030517578
-            ],
-            "mean": [
-                -0.38336625041681877,
-                -0.9233003909584303,
-                1.3056504370145452,
-                -1.9878923144878764,
-                -1.5891635341468822,
-                -0.38939836376760206,
-                68.38020866276435
-            ],
-            "std": [
-                0.08732317680810911,
-                0.06663771363537135,
-                0.09076540114269227,
-                0.061248604605212614,
-                0.003087044900837268,
-                0.1465308571965129,
-                29.48416036189623
-            ]
-        },
-        "observation.state": {
-            "min": [
-                -0.4719284176826477,
-                -1.083426833152771,
-                1.131264567375183,
-                -2.1201283931732178,
-                -1.5940574407577515,
-                -0.6380365490913391,
-                45.79999923706055
-            ],
-            "max": [
-                -0.24826937913894653,
-                -0.7765448689460754,
-                1.5504931211471558,
-                -1.8114920854568481,
-                -1.5860241651535034,
-                -0.13784343004226685,
-                150.8000030517578
-            ],
-            "mean": [
-                -0.3833687315824197,
-                -0.9233364531615669,
-                1.3057277204384559,
-                -1.9879336561627912,
-                -1.5891635526418093,
-                -0.38934873452772256,
-                68.39249110779082
-            ],
-            "std": [
-                0.08732260307097349,
-                0.06670470247547453,
-                0.09090756557370962,
-                0.06127760702371306,
-                0.0030870510550819598,
-                0.14652196435216963,
-                29.485769828618427
-            ]
-        },
-        "timestamp": {
-            "min": [
-                0.0
-            ],
-            "max": [
-                67.0
-            ],
-            "mean": [
-                33.5
-            ],
-            "std": [
-                19.350854873657227
-            ]
-        }
+    "observation.images.wrist": {
+      "dtype": "video",
+      "shape": [
+        480,
+        640,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channels"
+      ],
+      "info": {
+        "video.height": 480,
+        "video.width": 640,
+        "video.codec": "avc1",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "video.fps": 30,
+        "video.channels": 3,
+        "has_audio": false
+      }
     },
-    "data_files_size_in_mb": 100,
-    "video_files_size_in_mb": 200
+    "observation.images.front": {
+      "dtype": "video",
+      "shape": [
+        480,
+        640,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channels"
+      ],
+      "info": {
+        "video.height": 480,
+        "video.width": 640,
+        "video.codec": "avc1",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "video.fps": 30,
+        "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
+    }
+  },
+  "stats": {
+    "action": {
+      "min": [
+        -0.4582837224006653,
+        -1.0700711011886597,
+        1.034899115562439,
+        -2.090411424636841,
+        -1.5941447019577026,
+        -0.9122803807258606,
+        45.79999923706055
+      ],
+      "max": [
+        -0.23623734712600708,
+        -0.7735782265663147,
+        1.5556496381759644,
+        -1.8442116975784302,
+        -1.5862668752670288,
+        -0.017135445028543472,
+        101.30000305175781
+      ],
+      "mean": [
+        -0.3428954881422249,
+        -0.8384033572183897,
+        1.158679481906582,
+        -1.924902959897242,
+        -1.5903754223922122,
+        -0.5668870355344724,
+        58.49090854079459
+      ],
+      "std": [
+        0.08960543205762056,
+        0.05877984482605197,
+        0.11141874876471755,
+        0.06442294443822082,
+        0.003206262676393901,
+        0.21607498909384287,
+        14.388609058023627
+      ]
+    },
+    "observation.state": {
+      "min": [
+        -0.4582837224006653,
+        -1.0700711011886597,
+        1.034899115562439,
+        -2.090411424636841,
+        -1.5941447019577026,
+        -0.9122803807258606,
+        45.79999923706055
+      ],
+      "max": [
+        -0.23623734712600708,
+        -0.7735782265663147,
+        1.5556496381759644,
+        -1.8442116975784302,
+        -1.5862668752670288,
+        -0.017135445028543472,
+        101.30000305175781
+      ],
+      "mean": [
+        -0.3428340123718138,
+        -0.8387668662023723,
+        1.1593171016662236,
+        -1.925176092132388,
+        -1.5903784930334888,
+        -0.5667821877725321,
+        58.442340665558355
+      ],
+      "std": [
+        0.08958222660848777,
+        0.05928673471347038,
+        0.11218018737812349,
+        0.06464226787051472,
+        0.0032053912512283607,
+        0.21615871076093685,
+        14.30963191641381
+      ]
+    },
+    "timestamp": {
+      "min": [
+        0.0
+      ],
+      "max": [
+        26.733333587646484
+      ],
+      "mean": [
+        13.366666793823242
+      ],
+      "std": [
+        7.726865291595459
+      ]
+    }
+  }
 }

meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "stck the cuves"}

videos/chunk-000/observation.images.front/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0bab62fb9a785dca608700b2373e4efc8c5b2bf72ac296832c45cf58b4185f89
+size 1735131

videos/chunk-000/observation.images.wrist/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82ab86a40f653162a9c5da65f5d977a4edef0c0cbdd79301b0ef4c3ac707e711
+size 3123963