Initial dataset upload

README.md

@@ -9,7 +9,7 @@ tags:
 - ur5e
 task_categories:
 - robotics
-pretty_name: UR5e Dual RealSense Haptic Teleop Dataset (Δq = q[t+1]-q[t], LeRobot v2.1)
+pretty_name: UR5e Dual RealSense Haptic Teleop Dataset (Δq actions, LeRobot v2.1)
 configs:
 - config_name: default
   data_files:
@@ -21,9 +21,9 @@ configs:
 - Control loop: ~500 Hz (RTDE)
 - Dataset sampling: fixed 30 Hz
 
-Definitions (UPDATED):
-- `observation.state[t] = q_actual[t]` (UR joint positions, rad)
-- `action[t] = Δq[t] = q_actual[t+1] - q_actual[t]` (joint delta per dataset timestep at 30 Hz)
+Definitions:
+- `observation.state[t] = q_actual[t]`
+- `action[t] = Δq[t] = q_target[t] - q_actual[t]` (q_target from RTDE `target_q`)
 
 Videos:
 - `videos/chunk-000/observation.images.wrist/episode_XXXXXX.mp4`

data/chunk-000/episode_000000.parquet

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meta/episodes.jsonl

@@ -1,2 +1,6 @@
-{"episode_index": 0, "tasks": ["Pick up the red"], "length": 119}
-{"episode_index": 1, "tasks": ["Pick up the red"], "length": 82}
+{"episode_index": 0, "tasks": ["Pick uo the refff"], "length": 184}
+{"episode_index": 1, "tasks": ["Pick uo the refff"], "length": 70}
+{"episode_index": 2, "tasks": ["Pick uo the refff"], "length": 156}
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+{"episode_index": 4, "tasks": ["Pick uo the refff"], "length": 83}
+{"episode_index": 5, "tasks": ["Pick uo the refff"], "length": 69}

meta/info.json

@@ -1,15 +1,15 @@
 {
   "codebase_version": "v2.1",
   "robot_type": "ur5e",
-  "total_episodes": 2,
-  "total_frames": 201,
+  "total_episodes": 6,
+  "total_frames": 607,
   "total_tasks": 1,
-  "total_videos": 4,
+  "total_videos": 12,
   "total_chunks": 1,
   "chunks_size": 1000,
   "fps": 30,
   "splits": {
-    "train": "0:2"
+    "train": "0:6"
   },
   "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",

meta/tasks.jsonl

@@ -1 +1 @@
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