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README.md

@@ -1,43 +1,264 @@
 ---
-language:
-- en
 license: apache-2.0
-tags:
-- robotics
-- dataset
-- lerobot
-- ur5e
 task_categories:
 - robotics
-pretty_name: UR5e Dual RealSense Haptic Teleop Dataset (action = q[t+1] absolute, 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/iros200">
+<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
 
-- Control loop: ~500 Hz (RTDE)
-- Dataset sampling: fixed 30 Hz
+## Dataset Structure
 
-Definitions:
-- `observation.state[t] = q_actual[t]` (UR joint positions, rad)
-- `action[t] = q_actual[t+1]` (next-step absolute joint positions at 30 Hz)
+[meta/info.json](meta/info.json):
+```json
+{
+    "codebase_version": "v3.0",
+    "robot_type": "ur5e",
+    "total_episodes": 50,
+    "total_frames": 13003,
+    "total_tasks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:50"
+    },
+    "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": [
+                6
+            ],
+            "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"
+            ],
+            "fps": 30
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "shoulder_pan.pos",
+                "shoulder_lift.pos",
+                "elbow_flex.pos",
+                "wrist_1.pos",
+                "wrist_2.pos",
+                "wrist_3.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": [
+                -0.34377795457839966,
+                -1.3759781122207642,
+                1.1533669233322144,
+                -2.051746129989624,
+                -1.5912717580795288,
+                2.7834653854370117
+            ],
+            "max": [
+                0.04945709928870201,
+                -1.064904808998108,
+                1.6121782064437866,
+                -1.5979682207107544,
+                -1.569773554801941,
+                3.1762936115264893
+            ],
+            "mean": [
+                -0.10973846403882838,
+                -1.2069508629946089,
+                1.4700779914580921,
+                -1.8886794355349623,
+                -1.582986797753237,
+                3.017883677340687
+            ],
+            "std": [
+                0.05644073015932044,
+                0.036127965441532905,
+                0.11419661407913036,
+                0.12778945160336969,
+                0.00328808335126903,
+                0.05668635959146831
+            ]
+        },
+        "observation.state": {
+            "min": [
+                -0.34452468156814575,
+                -1.3759781122207642,
+                1.1533669233322144,
+                -2.051746129989624,
+                -1.5912870168685913,
+                2.782698154449463
+            ],
+            "max": [
+                0.04953254759311676,
+                -1.0647488832473755,
+                1.6121782064437866,
+                -1.5979682207107544,
+                -1.569698691368103,
+                3.176353693008423
+            ],
+            "mean": [
+                -0.11028077657328633,
+                -1.2071718314533224,
+                1.4692458246594564,
+                -1.8876257293601866,
+                -1.5829545572832127,
+                3.017335293467738
+            ],
+            "std": [
+                0.05711485390414038,
+                0.03644397259933061,
+                0.11429478602020055,
+                0.1277377855206061,
+                0.0033241642149343586,
+                0.057357966759273495
+            ]
+        },
+        "timestamp": {
+            "min": [
+                0.0
+            ],
+            "max": [
+                12.233333587646484
+            ],
+            "mean": [
+                4.438921928405762
+            ],
+            "std": [
+                2.7090742588043213
+            ]
+        }
+    },
+    "data_files_size_in_mb": 100,
+    "video_files_size_in_mb": 200
+}
+```
 
-Temporal alignment:
-- Camera frames are stored in timestamped ring buffers (depth=8).
-- At each 30 Hz sample, the frame whose capture timestamp is closest to the
-  RTDE packet timestamp is selected for both cameras independently.
-- This eliminates grab-latest race conditions and cross-camera temporal skew.
 
-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.next_pos', 'shoulder_lift.next_pos', 'elbow_flex.next_pos', 'wrist_1.next_pos', 'wrist_2.next_pos', 'wrist_3.next_pos']
+## Citation
 
-Videos:
-- `videos/chunk-000/observation.images.wrist/episode_XXXXXX.mp4`
-- `videos/chunk-000/observation.images.front/episode_XXXXXX.mp4`
+**BibTeX:**
 
-Per-episode Parquet schema (STRICT order):
-`action`, `observation.state`, `timestamp`, `frame_index`, `episode_index`, `index`, `task_index`
+```bibtex
+[More Information Needed]
+```