THULab/ur5e_pick_red_cube_lerobot

UR5e Pick Red Cube (TsFile)

Apache TsFile version of tlpss/ur5e-pick-red-cube.

Overview

A UR5e robot-arm manipulation dataset in the LeRobot v2.1 format. The single task is to pick up a red cube and place it on a blue square. Each record is one control frame within a demonstration episode, holding the robot's proprioceptive state, the commanded action, and per-step reward / success flags.

• Scale: 103 episodes, 13,567 frames total (≈ 132 frames per episode on average).
• Sampling rate: 10 fps.
• Tasks: 1 — "pick up the red cube and place it on the blue square".
• Robot: UR5e arm with a gripper.

Schema (TsFile structure)

• Time (INT64, milliseconds) — round(timestamp * 1000), restarting at 0 for each episode.
• episode_index (TAG) — source episode id (0–102).
• task_index (TAG) — source task id.
• frame_index (FIELD, INT64) — frame position within the episode.
• sample_index (FIELD, INT64) — the source global index column, renamed.
• seed (FIELD, INT64) — episode random seed.
• next_reward (FIELD, FLOAT) — reward at the next step.
• next_success (FIELD, BOOLEAN) — task-success flag.
• gripper_state (FIELD, FLOAT) — scalar gripper state.
• observation_state_0 .. observation_state_6 (FIELD, FLOAT) — the 7-D observation state, flattened.
• robot_pose_0 .. robot_pose_5 (FIELD, FLOAT) — the 6-D robot pose, flattened.
• joints_0 .. joints_5 (FIELD, FLOAT) — the 6-D joint vector, flattened.
• action_0 .. action_9 (FIELD, FLOAT) — the 10-D action, flattened.

All 103 episodes share a single .tsfile; episode_index and task_index are the device (TAG) dimensions. Query one episode with WHERE episode_index=0.

Vector columns are flattened keeping the source name (e.g. observation.state → observation_state_0..6, action → action_0..9). The source timestamp column is dropped because it equals Time / 1000 seconds; frame_index is kept.

Usage

Read the .tsfile files with the Apache TsFile Java or Python SDK.

Source & license

• Original dataset: https://huggingface.co/datasets/tlpss/ur5e-pick-red-cube
• Author / publisher: tlpss (Hugging Face)
• Created with LeRobot.
• Camera videos (observation.images.wrist_image, observation.images.scene_image, 240×320 RGB @ 10 fps) are not included in this repository; see the original dataset's videos/ directory for them.
• License: apache-2.0.