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README.md

@@ -1,161 +1,28 @@
 ---
+language:
+- en
 license: apache-2.0
+tags:
+- robotics
+- dataset
+- lerobot
+- ur5e
 task_categories:
 - robotics
-tags:
-- LeRobot
+pretty_name: UR5e Dual RealSense Teleoperation Dataset (LeRobot v2.1)
 configs:
 - config_name: default
-  data_files: data/*/*.parquet
+  data_files:
+  - data/*/*.parquet
 ---
 
+# UR5e Dual RealSense Teleoperation Dataset
 
-## Dataset Description
-
-
-
-- **Homepage:** [More Information Needed]
-- **Paper:** [More Information Needed]
-- **License:** apache-2.0
-
-## Dataset Structure
-
-[meta/info.json](meta/info.json):
-```json
-{
-  "codebase_version": "v2.1",
-  "robot_type": "ur5e",
-  "total_episodes": 1,
-  "total_frames": 196,
-  "total_tasks": 1,
-  "total_videos": 2,
-  "total_chunks": 1,
-  "chunks_size": 1000,
-  "fps": 30,
-  "splits": {
-    "train": "0:1"
-  },
-  "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",
-  "features": {
-    "action": {
-      "dtype": "float32",
-      "shape": [
-        6
-      ],
-      "names": [
-        "shoulder_pan.pos",
-        "shoulder_lift.pos",
-        "elbow_flex.pos",
-        "wrist_flex.pos",
-        "wrist_roll.pos",
-        "gripper.pos"
-      ]
-    },
-    "observation.state": {
-      "dtype": "float32",
-      "shape": [
-        6
-      ],
-      "names": [
-        "shoulder_pan.pos",
-        "shoulder_lift.pos",
-        "elbow_flex.pos",
-        "wrist_flex.pos",
-        "wrist_roll.pos",
-        "gripper.pos"
-      ]
-    },
-    "observation.images.front": {
-      "dtype": "video",
-      "shape": [
-        240,
-        424,
-        3
-      ],
-      "names": [
-        "height",
-        "width",
-        "channels"
-      ],
-      "info": {
-        "video.height": 240,
-        "video.width": 424,
-        "video.codec": "avc1",
-        "video.pix_fmt": "yuv420p",
-        "video.is_depth_map": false,
-        "video.fps": 30,
-        "video.channels": 3,
-        "has_audio": false
-      }
-    },
-    "observation.images.Wrist": {
-      "dtype": "video",
-      "shape": [
-        240,
-        424,
-        3
-      ],
-      "names": [
-        "height",
-        "width",
-        "channels"
-      ],
-      "info": {
-        "video.height": 240,
-        "video.width": 424,
-        "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
-    },
-    "frame_index": {
-      "dtype": "int64",
-      "shape": [
-        1
-      ],
-      "names": null
-    },
-    "episode_index": {
-      "dtype": "int64",
-      "shape": [
-        1
-      ],
-      "names": null
-    },
-    "index": {
-      "dtype": "int64",
-      "shape": [
-        1
-      ],
-      "names": null
-    },
-    "task_index": {
-      "dtype": "int64",
-      "shape": [
-        1
-      ],
-      "names": null
-    }
-  }
-}
-```
-
-
-## Citation
-
-**BibTeX:**
+This dataset was recorded using a UR5e robot with two Intel RealSense RGB cameras (wrist + front)
+and haptic teleoperation (Phantom Omni). It follows the **LeRobot v2.1** file layout.
 
-```bibtex
-[More Information Needed]
-```
+- **Videos** (per episode & camera) live in:
+  - `videos/chunk-000/observation.images.front/`
+  - `videos/chunk-000/observation.images.Wrist/`
+- **Per-episode Parquet** schema (order):
+  `action`, `observation.state`, `timestamp`, `frame_index`, `episode_index`, `index`, `task_index`.

data/chunk-000/episode_000000.parquet

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data/chunk-000/episode_000001.parquet

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meta/episodes.jsonl

@@ -1 +1,2 @@
-{"episode_index": 0, "tasks": ["test"], "length": 196}
+{"episode_index": 0, "tasks": ["test"], "length": 179}
+{"episode_index": 1, "tasks": ["test"], "length": 97}

meta/episodes_stats.jsonl

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-{"episode_index": 0, "stats": {"observation.state": {"min": [-0.5834882855415344, -1.9197355508804321, 2.0062763690948486, -2.051239252090454, -1.5776046514511108, -3.7388663291931152], "max": [-0.2235310673713684, -1.601676106452942, 2.257995843887329, -1.7732688188552856, -1.5576108694076538, -3.3792433738708496], "mean": [-0.3968089520931244, -1.7891740798950195, 2.141103982925415, -1.9788671731948853, -1.5679267644882202, -3.5523464679718018], "std": [0.07090367376804352, 0.08408939093351364, 0.06256456673145294, 0.06636451184749603, 0.003985283896327019, 0.07082660496234894]}, "action": {"min": [-0.5834882855415344, -1.9197355508804321, 2.0062763690948486, -2.051239252090454, -1.5776046514511108, -3.7388663291931152], "max": [-0.2235310673713684, -1.601676106452942, 2.257995843887329, -1.7732688188552856, -1.5576108694076538, -3.3792433738708496], "mean": [-0.3973180055618286, -1.7889232635498047, 2.141213893890381, -1.9792290925979614, -1.5678977966308594, -3.552854299545288], "std": [0.07067646086215973, 0.08398318290710449, 0.06263508647680283, 0.06639046967029572, 0.003971726167947054, 0.07060015946626663]}, "observation.images.Wrist": {"mean": [0.477717787027359, 0.4881764352321625, 0.48069557547569275], "std": [0.14377804100513458, 0.14100158214569092, 0.1419987827539444]}, "observation.images.front": {"mean": [0.45533350110054016, 0.4656021296977997, 0.4623372554779053], "std": [0.21577909588813782, 0.20604531466960907, 0.20876674354076385]}}}
+{"episode_index": 0, "stats": {"observation.state": {"min": [-0.6071885228157043, -1.8790942430496216, 1.9068764448165894, -1.9834076166152954, -1.5749982595443726, -3.7625620365142822], "max": [-0.26674968004226685, -1.6025186777114868, 2.150426149368286, -1.7189003229141235, -1.5561164617538452, -3.4230294227600098], "mean": [-0.4536083936691284, -1.7926280498504639, 2.0549991130828857, -1.8889468908309937, -1.5645837783813477, -3.6092615127563477], "std": [0.07268590480089188, 0.06991787254810333, 0.0686388686299324, 0.06305338442325592, 0.004059274215251207, 0.07256904989480972]}, "action": {"min": [-0.6071885228157043, -1.876271367073059, 1.9068764448165894, -1.9834076166152954, -1.5749982595443726, -3.7625620365142822], "max": [-0.26674968004226685, -1.6025186777114868, 2.14672589302063, -1.7189003229141235, -1.5561164617538452, -3.4230294227600098], "mean": [-0.4534490406513214, -1.7923628091812134, 2.054978370666504, -1.8891927003860474, -1.5645923614501953, -3.6091017723083496], "std": [0.07262343913316727, 0.06967847794294357, 0.06861051917076111, 0.06317327916622162, 0.004056101199239492, 0.07250650972127914]}, "observation.images.Wrist": {"mean": [0.47455644607543945, 0.48406708240509033, 0.47580188512802124], "std": [0.14191384613513947, 0.13917990028858185, 0.13963522017002106]}, "observation.images.front": {"mean": [0.449083536863327, 0.45921942591667175, 0.45533397793769836], "std": [0.21350273489952087, 0.2047272026538849, 0.2067987471818924]}}}
+{"episode_index": 1, "stats": {"observation.state": {"min": [-0.5451920628547668, -1.869162678718567, 1.9968317747116089, -2.0103871822357178, -1.5748337507247925, -3.7006149291992188], "max": [-0.27364522218704224, -1.7523247003555298, 2.2263972759246826, -1.754745602607727, -1.5596107244491577, -3.429591655731201], "mean": [-0.4496435225009918, -1.8080919981002808, 2.0931146144866943, -1.9116328954696655, -1.5648651123046875, -3.6052494049072266], "std": [0.07405814528465271, 0.03586119785904884, 0.0707530677318573, 0.0701541006565094, 0.004188266582787037, 0.0739990845322609]}, "action": {"min": [-0.5451920628547668, -1.869162678718567, 1.9968317747116089, -2.0103871822357178, -1.5748337507247925, -3.7006149291992188], "max": [-0.27364522218704224, -1.753771424293518, 2.2263972759246826, -1.754745602607727, -1.5596107244491577, -3.429591655731201], "mean": [-0.4507828950881958, -1.8089524507522583, 2.0944344997406006, -1.9120850563049316, -1.5648016929626465, -3.6063873767852783], "std": [0.0738305076956749, 0.035502009093761444, 0.07028429955244064, 0.07009239494800568, 0.004175951238721609, 0.07377178221940994]}, "observation.images.Wrist": {"mean": [0.4750039577484131, 0.4865497648715973, 0.4779692590236664], "std": [0.1427777260541916, 0.1400102972984314, 0.14059068262577057]}, "observation.images.front": {"mean": [0.4490847885608673, 0.4609263837337494, 0.4572390615940094], "std": [0.21371899545192719, 0.2047174870967865, 0.2068297117948532]}}}

meta/info.json

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 {
   "codebase_version": "v2.1",
   "robot_type": "ur5e",
-  "total_episodes": 1,
-  "total_frames": 196,
+  "total_episodes": 2,
+  "total_frames": 276,
   "total_tasks": 1,
-  "total_videos": 2,
+  "total_videos": 4,
   "total_chunks": 1,
   "chunks_size": 1000,
   "fps": 30,
   "splits": {
-    "train": "0:1"
+    "train": "0:2"
   },
   "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",
+  "camera_keys": [
+    "observation.images.front",
+    "observation.images.Wrist"
+  ],
   "features": {
     "action": {
       "dtype": "float32",

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