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Datasets:
sk1700
/
iros6

Tasks:
Robotics
Modalities:
Tabular
Video
Formats:
parquet
Languages:
English
Size:
10K - 100K
Tags:
robotics
dataset
lerobot
ur5e
Libraries:
Datasets
Dask
Polars
License:
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3.3
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End of preview. Expand in Data Studio

UR5e Dual RealSense Haptic Teleoperation Dataset (LeRobot v2.1)

  • Control loop: ~500 Hz (RTDE)
  • Dataset sampling: fixed 30 Hz

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)

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']

Videos:

  • videos/chunk-000/observation.images.wrist/episode_XXXXXX.mp4
  • videos/chunk-000/observation.images.front/episode_XXXXXX.mp4

Per-episode Parquet schema (STRICT order): action, observation.state, timestamp, frame_index, episode_index, index, task_index

Downloads last month
12
Size of downloaded dataset files:
960 kB
Size of the auto-converted Parquet files:
960 kB
Number of rows:
10,068