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Datasets:
sk1700
/
iros

Tasks:
Robotics
Modalities:
Tabular
Video
Formats:
parquet
Languages:
English
Size:
1K - 10K
Tags:
robotics
dataset
lerobot
ur5e
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
xet
 Community
1
sk1700 commited on
Commit
6f401ae
·
verified ·
1 Parent(s): d4d3ee6

Initial dataset upload

Browse files
Files changed (19) hide show
  1. README.md +3 -7
  2. data/chunk-000/episode_000000.parquet +2 -2
  3. data/chunk-000/episode_000001.parquet +2 -2
  4. data/chunk-000/episode_000002.parquet +2 -2
  5. data/chunk-000/episode_000003.parquet +2 -2
  6. data/chunk-000/episode_000004.parquet +2 -2
  7. meta/episodes.jsonl +3 -5
  8. meta/info.json +16 -16
  9. meta/tasks.jsonl +1 -1
  10. videos/chunk-000/observation.images.front/episode_000000.mp4 +2 -2
  11. videos/chunk-000/observation.images.front/episode_000001.mp4 +2 -2
  12. videos/chunk-000/observation.images.front/episode_000002.mp4 +2 -2
  13. videos/chunk-000/observation.images.front/episode_000003.mp4 +2 -2
  14. videos/chunk-000/observation.images.front/episode_000004.mp4 +2 -2
  15. videos/chunk-000/observation.images.wrist/episode_000000.mp4 +2 -2
  16. videos/chunk-000/observation.images.wrist/episode_000001.mp4 +2 -2
  17. videos/chunk-000/observation.images.wrist/episode_000002.mp4 +2 -2
  18. videos/chunk-000/observation.images.wrist/episode_000003.mp4 +2 -2
  19. videos/chunk-000/observation.images.wrist/episode_000004.mp4 +2 -2
README.md CHANGED
@@ -9,7 +9,7 @@ tags:
9
  - ur5e
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  task_categories:
11
  - robotics
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- pretty_name: UR5e Dual RealSense Haptic Teleop Dataset (Δq = q[t+1]-q[t], LeRobot v2.1)
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  configs:
14
  - config_name: default
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  data_files:
@@ -22,12 +22,8 @@ configs:
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  - Dataset sampling: fixed 30 Hz
23
 
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  Definitions:
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- - `observation.state[t] = q_actual[t]` (UR joint positions, rad)
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- - `action[t] = Δq[t] = q_actual[t+1] - q_actual[t]` (joint delta per dataset timestep at 30 Hz)
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-
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- Visualizer-friendly naming:
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- - observation.state names: ['shoulder_pan.pos', 'shoulder_lift.pos', 'elbow_flex.pos', 'wrist_1.pos', 'wrist_2.pos', 'wrist_3.pos']
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- - action names: ['shoulder_pan.dq', 'shoulder_lift.dq', 'elbow_flex.dq', 'wrist_1.dq', 'wrist_2.dq', 'wrist_3.dq']
31
 
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  Videos:
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  - `videos/chunk-000/observation.images.wrist/episode_XXXXXX.mp4`
 
9
  - ur5e
10
  task_categories:
11
  - robotics
12
+ pretty_name: UR5e Dual RealSense Haptic Teleop Dataset (Δq actions, LeRobot v2.1)
13
  configs:
14
  - config_name: default
15
  data_files:
 
22
  - Dataset sampling: fixed 30 Hz
23
 
24
  Definitions:
25
+ - `observation.state[t] = q_actual[t]`
26
+ - `action[t] = Δq[t] = q_target[t] - q_actual[t]` (q_target from RTDE `target_q`)
 
 
 
 
27
 
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  Videos:
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  - `videos/chunk-000/observation.images.wrist/episode_XXXXXX.mp4`
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meta/episodes.jsonl CHANGED
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- {"episode_index": 2, "tasks": ["pick up"], "length": 131}
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- {"episode_index": 3, "tasks": ["pick up"], "length": 137}
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- {"episode_index": 4, "tasks": ["pick up"], "length": 95}
 
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+ {"episode_index": 0, "tasks": ["Pick"], "length": 255}
2
+ {"episode_index": 1, "tasks": ["Pick"], "length": 254}
3
+ {"episode_index": 2, "tasks": ["Pick"], "length": 272}
 
 
meta/info.json CHANGED
@@ -1,15 +1,15 @@
1
  {
2
  "codebase_version": "v2.1",
3
  "robot_type": "ur5e",
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- "total_episodes": 5,
5
- "total_frames": 754,
6
  "total_tasks": 1,
7
- "total_videos": 10,
8
  "total_chunks": 1,
9
  "chunks_size": 1000,
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  "fps": 30,
11
  "splits": {
12
- "train": "0:5"
13
  },
14
  "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
15
  "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
@@ -24,12 +24,12 @@
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  6
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  ],
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  "names": [
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- "shoulder_pan.dq",
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- "shoulder_lift.dq",
29
- "elbow_flex.dq",
30
- "wrist_1.dq",
31
- "wrist_2.dq",
32
- "wrist_3.dq"
33
  ]
34
  },
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  "observation.state": {
@@ -38,12 +38,12 @@
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  6
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  ],
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  "names": [
41
- "shoulder_pan.pos",
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- "shoulder_lift.pos",
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- "elbow_flex.pos",
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- "wrist_1.pos",
45
- "wrist_2.pos",
46
- "wrist_3.pos"
47
  ]
48
  },
49
  "observation.images.wrist": {
 
1
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3
  "robot_type": "ur5e",
4
+ "total_episodes": 3,
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+ "total_frames": 781,
6
  "total_tasks": 1,
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+ "total_videos": 6,
8
  "total_chunks": 1,
9
  "chunks_size": 1000,
10
  "fps": 30,
11
  "splits": {
12
+ "train": "0:3"
13
  },
14
  "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
15
  "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
 
24
  6
25
  ],
26
  "names": [
27
+ "dq1",
28
+ "dq2",
29
+ "dq3",
30
+ "dq4",
31
+ "dq5",
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+ "dq6"
33
  ]
34
  },
35
  "observation.state": {
 
38
  6
39
  ],
40
  "names": [
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+ "q1",
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+ "q2",
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+ "q3",
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+ "q4",
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+ "q5",
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+ "q6"
47
  ]
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  },
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  "observation.images.wrist": {
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