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README.md

@@ -19,9 +19,9 @@ configs:
 # UR5e Dual RealSense Teleoperation Dataset
 
 This dataset was recorded using a UR5e robot with two Intel RealSense RGB cameras (wrist + front)
-and haptic teleoperation. It follows the **LeRobot v2.1** file layout.
+and haptic teleoperation (Phantom Omni). It follows the **LeRobot v2.1** file layout.
 
-- **Videos** are referenced in `meta/info.json`:
+- **Videos** are referenced in `meta/info.json` using SO101-like keys:
   - `observation.images.front`
   - `observation.images.Wrist`
 - **Training data** is stored as per-episode Parquet files with the required schema:

data/chunk-000/episode_000000.parquet

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-size 49540
+oid sha256:9259c7a5b8228dc13a59d3917561976ae9ed52a5558e3181048d3a45e5688acb
+size 66327

data/chunk-000/episode_000001.parquet

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+oid sha256:fd3f71cded6c7748c82116a2682426342b8eae30fc41393f487a316bd59c5246
+size 18922

data/chunk-000/episode_000002.parquet

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-size 34545
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+size 17800

data/chunk-000/episode_000003.parquet

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+size 15533

data/chunk-000/episode_000004.parquet

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+size 24345

meta/episodes.jsonl

@@ -1,3 +1,5 @@
-{"episode_index": 0, "tasks": ["pick up the greem"], "length": 463}
-{"episode_index": 1, "tasks": ["pick up the greem"], "length": 220}
-{"episode_index": 2, "tasks": ["pick up the greem"], "length": 310}
+{"episode_index": 0, "tasks": ["pick"], "length": 632}
+{"episode_index": 1, "tasks": ["pick"], "length": 147}
+{"episode_index": 2, "tasks": ["pick"], "length": 136}
+{"episode_index": 3, "tasks": ["pick"], "length": 111}
+{"episode_index": 4, "tasks": ["pick"], "length": 201}

meta/episodes_stats.jsonl

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-{"episode_index": 0, "stats": {"observation.state": {"min": [-0.5418608784675598, -1.872606873512268, 2.0084497928619385, -2.104865312576294, -1.5728682279586792, -3.6970133781433105], "max": [-0.30726319551467896, -1.6305171251296997, 2.2837095260620117, -1.8825803995132446, -1.5598715543746948, -3.4642322063446045], "mean": [-0.41813334822654724, -1.7784301042556763, 2.1779587268829346, -2.026470184326172, -1.5667670965194702, -3.573544502258301], "std": [0.04967408627271652, 0.05103375017642975, 0.06774502992630005, 0.041248869150877, 0.0027480334974825382, 0.049579475075006485]}, "action": {"min": [-0.5418608784675598, -1.872606873512268, 2.0084497928619385, -2.104865312576294, -1.5728682279586792, -3.6970133781433105], "max": [-0.30726319551467896, -1.6305171251296997, 2.2837095260620117, -1.8825803995132446, -1.5598715543746948, -3.4642322063446045], "mean": [-0.4181472957134247, -1.7782576084136963, 2.177741050720215, -2.026426076889038, -1.5667659044265747, -3.5735573768615723], "std": [0.04967069253325462, 0.05089482665061951, 0.06761226058006287, 0.04124889150261879, 0.0027477052062749863, 0.049576323479413986]}, "observation.images.Wrist": {"mean": [0.4639292061328888, 0.4707845151424408, 0.4678152799606323], "std": [0.1414322704076767, 0.13913856446743011, 0.13987644016742706]}, "observation.images.front": {"mean": [0.44549983739852905, 0.4591588079929352, 0.45490291714668274], "std": [0.21319173276424408, 0.20277123153209686, 0.20488451421260834]}}}
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meta/info.json

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 {
   "codebase_version": "v2.1",
   "robot_type": "ur5e",
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-  "total_frames": 993,
+  "total_episodes": 5,
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   "total_tasks": 1,
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+  "total_videos": 10,
   "total_chunks": 1,
   "chunks_size": 1000,
   "fps": 30,
   "splits": {
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   "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",

meta/tasks.jsonl

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