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README.md

@@ -9,7 +9,7 @@ tags:
 - ur5e
 task_categories:
 - robotics
-pretty_name: UR5e Dual RealSense Haptic Teleop Dataset (Δq actions, LeRobot v2.1)
+pretty_name: UR5e Dual RealSense Haptic Teleop Dataset (Δq = q[t+1]-q[t], LeRobot v2.1)
 configs:
 - config_name: default
   data_files:
@@ -22,8 +22,12 @@ configs:
 - Dataset sampling: fixed 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`)
+- `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)
+
+Visualizer-friendly naming:
+- observation.state names: ['shoulder_pan.pos', 'shoulder_lift.pos', 'elbow_flex.pos', 'wrist_1.pos', 'wrist_2.pos', 'wrist_3.pos']
+- action names: ['shoulder_pan.dq', 'shoulder_lift.dq', 'elbow_flex.dq', 'wrist_1.dq', 'wrist_2.dq', 'wrist_3.dq']
 
 Videos:
 - `videos/chunk-000/observation.images.wrist/episode_XXXXXX.mp4`

data/chunk-000/episode_000000.parquet

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data/chunk-000/episode_000001.parquet

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data/chunk-000/episode_000002.parquet

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meta/episodes.jsonl

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-{"episode_index": 0, "tasks": ["Pick"], "length": 255}
-{"episode_index": 1, "tasks": ["Pick"], "length": 254}
-{"episode_index": 2, "tasks": ["Pick"], "length": 272}
+{"episode_index": 0, "tasks": ["pick up the red object"], "length": 225}
+{"episode_index": 1, "tasks": ["pick up the red object"], "length": 366}
+{"episode_index": 2, "tasks": ["pick up the red object"], "length": 434}

meta/episodes_stats.jsonl

@@ -0,0 +1,3 @@
+{"episode_index": 0, "stats": {"action": {"min": [-0.03067922592163086, -0.03632640838623047, -0.04050636291503906, -0.04747915267944336, -0.0019698143005371094, -0.03073573112487793], "max": [0.035340309143066406, 0.03112030029296875, 0.04569673538208008, 0.0483250617980957, 0.0016884803771972656, 0.03523445129394531], "mean": [-2.7196676366859013e-05, 0.0004471264945136176, 5.419625176323785e-05, -0.000499625735812717, 1.2503729926215278e-06, -2.547793918185764e-05], "std": [0.012691576652522183, 0.01434653066947289, 0.014318964535341032, 0.019573575166908233, 0.0006965424121982678, 0.012671654265180564], "count": 225}, "observation.state": {"min": [-0.4043129086494446, -1.3732380867004395, 1.4815963506698608, -2.356288194656372, -1.5909069776535034, -3.558910369873047], "max": [0.033977948129177094, -1.075361728668213, 1.9478620290756226, -1.8247848749160767, -1.5670541524887085, -3.121840238571167], "mean": [-0.12459765515600642, -1.2013873471154106, 1.7060596354802449, -2.12980206489563, -1.5824418550067478, -3.2799499056074355], "std": [0.09118854458194019, 0.07658143013160089, 0.09798894398883704, 0.1306012994667354, 0.004978360648553547, 0.09090953461955587], "count": 225}, "timestamp": {"min": [0.0], "max": [7.4666666984558105], "mean": [3.7333333336810273], "std": [2.165042127681106], "count": 225}, "frame_index": {"min": [0.0], "max": [224.0], "mean": [112.0], "std": [64.95126378036586], "count": 225}, "episode_index": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": 225}, "index": {"min": [0.0], "max": [224.0], "mean": [112.0], "std": [64.95126378036586], "count": 225}, "task_index": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": 225}}}
+{"episode_index": 1, "stats": {"action": {"min": [-0.027641773223876953, -0.025258421897888184, -0.0283966064453125, -0.0433049201965332, -0.001850128173828125, -0.027703285217285156], "max": [0.033130161464214325, 0.029003500938415527, 0.0251617431640625, 0.0457916259765625, 0.0015587806701660156, 0.03307390213012695], "mean": [4.1607299137636614e-05, -0.00016327699025472006, -0.00017145683205192858, 0.00033694277695619346, -1.8265729393463969e-06, 4.099822435222688e-05], "std": [0.013180154953440089, 0.013003616420283375, 0.010440225718875533, 0.020304960844147152, 0.0007253567784526227, 0.013156217430664682], "count": 366}, "observation.state": {"min": [-0.3826444745063782, -1.3945013284683228, 1.564273715019226, -2.3855512142181396, -1.5922430753707886, -3.537078380584717], "max": [0.05870874598622322, -1.05538809299469, 1.912061095237732, -1.8863874673843384, -1.568457007408142, -3.0968282222747803], "mean": [-0.12368196133419851, -1.186640478222748, 1.7177520873116665, -2.1561896986648685, -1.5825142137339858, -3.2789733344739904], "std": [0.09669819391668849, 0.08758373334211787, 0.07214592872484756, 0.13999453946620444, 0.005283049133127433, 0.09640723045254877], "count": 366}, "timestamp": {"min": [0.0], "max": [12.166666984558105], "mean": [6.083333336152747], "std": [3.5218234997392863], "count": 366}, "frame_index": {"min": [0.0], "max": [365.0], "mean": [182.5], "std": [105.65470489602754], "count": 366}, "episode_index": {"min": [1.0], "max": [1.0], "mean": [1.0], "std": [0.0], "count": 366}, "index": {"min": [225.0], "max": [590.0], "mean": [407.5], "std": [105.65470489602754], "count": 366}, "task_index": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": 366}}}
+{"episode_index": 2, "stats": {"action": {"min": [-0.020222187042236328, -0.033650875091552734, -0.06854057312011719, -0.10275328159332275, -0.04342794418334961, -0.031675100326538086], "max": [0.028026103973388672, 0.03324282169342041, 0.07545757293701172, 0.09333527088165283, 0.017006397247314453, 0.10638833045959473], "mean": [0.00027188274865618087, 6.420189334500221e-05, 7.334722351918023e-05, -0.00019995957475653443, -0.000511272711687923, 0.0002780405607091666], "std": [0.005436202973914146, 0.009346593582648402, 0.01823414414459375, 0.025389128865724305, 0.007714597340656731, 0.015202914193190172], "count": 434}, "observation.state": {"min": [-0.17763930559158325, -1.3328524827957153, 1.256492018699646, -2.445369005203247, -2.0601370334625244, -3.332892417907715], "max": [0.11307971179485321, -1.002772331237793, 1.9595860242843628, -1.4922516345977783, -1.5796750783920288, -2.5477256774902344], "mean": [0.01349582654731949, -1.230726849922936, 1.7340984229118592, -2.094231246803213, -1.774485810561114, -3.047340010717717], "std": [0.05563824054059091, 0.07853923996820503, 0.15971325914694987, 0.2000155222405447, 0.11939689512165977, 0.17247348672248575], "count": 434}, "timestamp": {"min": [0.0], "max": [14.433333396911621], "mean": [7.216666667872379], "std": [4.176155861321112], "count": 434}, "frame_index": {"min": [0.0], "max": [433.0], "mean": [216.5], "std": [125.28467583866751], "count": 434}, "episode_index": {"min": [2.0], "max": [2.0], "mean": [2.0], "std": [0.0], "count": 434}, "index": {"min": [591.0], "max": [1024.0], "mean": [807.5], "std": [125.28467583866751], "count": 434}, "task_index": {"min": [0.0], "max": [0.0], "mean": [0.0], "std": [0.0], "count": 434}}}

meta/info.json

@@ -2,7 +2,7 @@
   "codebase_version": "v2.1",
   "robot_type": "ur5e",
   "total_episodes": 3,
-  "total_frames": 781,
+  "total_frames": 1025,
   "total_tasks": 1,
   "total_videos": 6,
   "total_chunks": 1,
@@ -24,12 +24,12 @@
         6
       ],
       "names": [
-        "dq1",
-        "dq2",
-        "dq3",
-        "dq4",
-        "dq5",
-        "dq6"
+        "shoulder_pan.dq",
+        "shoulder_lift.dq",
+        "elbow_flex.dq",
+        "wrist_1.dq",
+        "wrist_2.dq",
+        "wrist_3.dq"
       ]
     },
     "observation.state": {
@@ -38,12 +38,12 @@
         6
       ],
       "names": [
-        "q1",
-        "q2",
-        "q3",
-        "q4",
-        "q5",
-        "q6"
+        "shoulder_pan.pos",
+        "shoulder_lift.pos",
+        "elbow_flex.pos",
+        "wrist_1.pos",
+        "wrist_2.pos",
+        "wrist_3.pos"
       ]
     },
     "observation.images.wrist": {
@@ -127,5 +127,89 @@
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       "names": null
     }
+  },
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 }

meta/tasks.jsonl

@@ -1 +1 @@
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