Datasets:
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observation.state list | action list | timestamp float32 0 21.7 | frame_index int64 0 651 | episode_index int64 0 102 | index int64 0 23.9k | task_index int64 0 0 |
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0.1592070460319519,
-0.6432533264160156,
0.052804987877607346,
0.1637304425239563,
0.861873209476471,
0.506492018699646,
0.021254410967230797,
-0.013736287131905556
] | [
-3.45742130279541,
-1.5349267721176147,
2.070106029510498,
-2.0985801219940186,
-1.6214121580123901,
0.19241385161876678,
0.1592070460319519
] | 3.233333 | 97 | 0 | 97 | 0 |
[
-3.45742130279541,
-1.5349267721176147,
2.070106029510498,
-2.0985801219940186,
-1.6214121580123901,
0.19241385161876678,
0.1592070460319519,
-0.6432616114616394,
0.0527532584965229,
0.1637265533208847,
0.8618143200874329,
0.5065813660621643,
0.021382562816143036,
-0.01393568329513073
] | [
-3.457493305206299,
-1.5349148511886597,
2.070117950439453,
-2.0985682010650635,
-1.621400237083435,
0.19232995808124542,
0.1592070460319519
] | 3.266667 | 98 | 0 | 98 | 0 |
[
-3.457493305206299,
-1.5349148511886597,
2.070117950439453,
-2.0985682010650635,
-1.621400237083435,
0.19232995808124542,
0.1592070460319519,
-0.643265962600708,
0.052767254412174225,
0.16377682983875275,
0.8618227243423462,
0.5065648555755615,
0.0213981494307518,
-0.013990633189678192
] | [
-3.457505226135254,
-1.5349386930465698,
2.070106029510498,
-2.0985682010650635,
-1.6213525533676147,
0.19228202104568481,
0.1592070460319519
] | 3.3 | 99 | 0 | 99 | 0 |
End of preview. Expand in Data Studio
Cluttered Grasp (UR10 + Robotiq 2F-140 + tactile + depth)
Real-robot teleop demonstrations of cluttered grasping. Episodes are gated on
gripper_tcp height in base_link (record while low, pause while high), time-synced
to the RealSense RGB master @ 30 Hz, then converted to
LeRobot format.
| Robot | UR10 + Robotiq 2F-140 (ur10_robotiq_2f140) |
| FPS | 30 (RGB master timeline) |
| Episodes | 103 |
| Frames | 23943 |
| Codebase | LeRobot dataset v3.0 |
| Task | cluttered grasping |
Sensors & resolutions
| Stream | Capture (ROS) | Dataset feature | Shape (H×W×C) | Aspect |
|---|---|---|---|---|
| Center RGB | RealSense color 1280×720@30 JPEG |
observation.images.center_cam |
720×1280×3 | 16:9 |
| Depth | Depth module 848×480@30, published as aligned_depth_to_color → resampled into the color grid |
observation.images.center_cam_depth |
720×1280×1 (uint16 mm, video12) | 16:9 (aligned) |
| Tactile L | Fingertip cam JPEG (~90 Hz capture, hold-last to RGB) | observation.images.tactile_L |
240×320×3 | 4:3 |
| Tactile R | same | observation.images.tactile_R |
240×320×3 | 4:3 |
- Master clock: compressed RGB frames — one dataset row per RGB stamp (~30 Hz).
- Sync: nearest-neighbor within ~50 ms, then hold-last for depth/tactile/proprio.
- Depth note: the D4xx depth module runs at 480p (
848×480). Hardware align-to-color writes depth in RGB resolution, so the stored/LeRobot depth video is 1280×720 (same pixels ascenter_cam), unit millimetres. - Depth export modes used for this release: 12-bit
gray12leHEVC (video12), log-quantized over 0.2–1.0 m.
Dataset structure
cluttered_grasping/
├── meta/
│ ├── info.json # schema, fps, totals, video codec info
│ ├── stats.json # per-feature normalization stats
│ ├── tasks.parquet # task prompts
│ └── episodes/ # per-episode metadata
├── data/
│ └── chunk-*/file-*.parquet # state, action, indices
└── videos/
├── observation.images.center_cam/chunk-*/file-*.mp4 # AV1, 1280×720
├── observation.images.center_cam_depth/chunk-*/file-*.mp4 # HEVC gray12le depth
├── observation.images.tactile_L/chunk-*/file-*.mp4 # AV1, 320×240
└── observation.images.tactile_R/chunk-*/file-*.mp4
Features (per frame)
| Key | Type | Shape | Description |
|---|---|---|---|
observation.state |
float32 | (14,) | joint_0..5, gripper, eef_x/y/z, eef_qx/qy/qz/qw (xyzw) |
action |
float32 | (7,) | Absolute next joint_0..5 + gripper (last frame of each episode dropped) |
grasp_state |
int64 | (1,) | Exclusive grasp phase: 0 no_contact, 1 contact, 2 closure, 3 lift, 4 success |
observation.images.center_cam |
video (AV1) | 720×1280×3 | Scene RealSense RGB |
observation.images.center_cam_depth |
video (HEVC gray12le) | 720×1280×1 | Aligned depth, mm; is_depth_map |
observation.images.tactile_L |
video (AV1) | 240×320×3 | Left fingertip tactile |
observation.images.tactile_R |
video (AV1) | 240×320×3 | Right fingertip tactile |
timestamp |
float32 | (1,) | Time within episode (s) |
frame_index / episode_index / index / task_index |
int64 | (1,) | LeRobot indices |
observation.state EE pose is gripper_tcp in base_link. Wrist force/torque is not exported to LeRobot (still present in upstream zarr if needed).
Episode definition
- Start when TCP (z < 0.32) m
- End when TCP (z > 0.33) m
- No recording between episodes (reset / high)
Load
from lerobot.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("benudavis/cluttered_grasp")
print(ds)
frame = ds[0]
# RGB / tactile: frame["observation.images.center_cam"], ...
# Depth (mm-quantized video12): frame["observation.images.center_cam_depth"]
Collection / conversion notes
- ROS bags → one zarr episode per bag (
bag2datasetunder~/venvs/clutter, zarr≥3). - Offline rebuild:
scripts/zarr_to_lerobot.py --fps 30 --depth-mode video12over~/EDG_Experiment/clutter/**/*.zarr. - Phase labels:
scripts/label_grasp_states.py(Streamlit) writesdata/obs/policy/grasp_stateon each episode zarr before convert. - Action mode default:
absolute_next(seescripts/lerobot_convert/actions.py). - Upload:
scripts/upload_lerobot_hf.py(copies this card to the dataset root asREADME.md).
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