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README.md

@@ -1,32 +1,274 @@
 ---
-language:
-- en
 license: apache-2.0
-tags:
-- robotics
-- dataset
-- lerobot
-- ur5e
 task_categories:
 - robotics
-pretty_name: UR5e Dual RealSense Haptic Teleop Dataset (LeRobot v2.1)
+tags:
+- LeRobot
 configs:
 - config_name: default
-  data_files:
-  - data/*/*.parquet
+  data_files: data/*/*.parquet
 ---
 
-# UR5e Dual RealSense Haptic Teleoperation Dataset (LeRobot v2.1)
+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
+}
+```
+
 
-- 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)
+## Citation
 
-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:**
 
-Definitions:
-- observation.state[t] = [q0..q5, gripper_mm] at time t
-- action[t]            = [q0..q5, gripper_mm] at time t+1  (next-step absolute)
+```bibtex
+[More Information Needed]
+```