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| license: cc-by-4.0 |
| language: |
| - en |
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| # About |
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| The episodes in this dataset are pick and place sequences. |
| A light bulb is picked up from a random position on the wooden tabletop and placed in the socket, also on the wooden tabletop. |
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| ## Dataset summary |
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| | Field | Value | |
| |---|---| |
| | Robot | UR10e (6-DoF) | |
| | Gripper | Robotiq Hand-E | |
| | Cameras | Intel Realsense 435 | |
| | Episodes | `23` | |
| | Frames | `15,548` | |
| | FPS | `30` | |
| | Tasks / language instructions | `pick up the bulb and place it in the socket` | |
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| ## Feature dictionary (all columns) |
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| Shapes below match `meta/info.json`. LeRobot standard index columns (`timestamp`, `frame_index`, `episode_index`, `index`, `task_index`) are also present. |
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| ### Observations |
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| | Feature | Dtype / shape | Names / semantics | |
| |---|---|---| |
| | `observation.state` | float32 `[6]` | Joint positions: Base, Shoulder, Elbow, Wrist 1, Wrist 2, Wrist 3 (rad) | |
| | `observation.ee_pose` | float32 `[6]` | TCP pose `[x, y, z, rx, ry, rz]` (m / UR rotation vector) | |
| | `observation.ee_force_torque` | float32 `[6]` | TCP wrench `[Fx, Fy, Fz, Tx, Ty, Tz]` | |
| | `observation.gripper_state` | float32 `[1]` | Measured aperture `POS/255` in `[0, 1]` (0 open, 1 closed) | |
| | `observation.gripper_current` | float32 `[1]` | Motor current (A) ≈ `COU * 0.01` | |
| | `observation.gripper_object` | float32 `[1]` | Hand-E `OBJ`: 0 moving, 1 outer stop, 2 inner stop, 3 at request | |
| | `observation.gripper_status` | float32 `[1]` | Hand-E `STA`: 0 reset, 1 activating, 3 active | |
| | `observation.gripper_fault` | float32 `[1]` | Hand-E `FLT` code (`0` = none) | |
| | `observation.gripper_position_request_echo` | float32 `[1]` | `PRE/255` last commanded position echo | |
| | `observation.gripper_speed_request_echo` | float32 `[1]` | `SPE/255` last commanded speed echo | |
| | `observation.gripper_force_request_echo` | float32 `[1]` | `FOR/255` last commanded force echo | |
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| ### Actions |
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| | Feature | Dtype / shape | Names / semantics | |
| |---|---|---| |
| | `action` | float32 `[9]` | See action layout below | |
| | `action.ee_pose_next` | float32 `[6]` | Observed TCP at `t+1` (last frame repeats `t`); filled on assemble/export | |
| | `action.ee_pose_delta` | float32 `[6]` | Observed `ee_pose[t+1] - ee_pose[t]` (last frame zeros); filled on assemble/export | |
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| **`action` layout (always 9-D):** |
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| | Index | `joint_positions` names | `ee_pose_delta` names | Source | |
| |---|---|---|---| |
| | 0…5 | Base…Wrist 3 | x…rz | Sticky commanded `cmd_joint_positions` **or** `cmd_ee_pose_delta` (export-time choice) | |
| | 6 | `gripper` | `gripper` | Commanded `cmd_gripper` (`SET POS`), recorded at **send** time | |
| | 7 | `gripper_speed` | `gripper_speed` | Commanded `cmd_gripper_speed` (`SET SPE`), send time | |
| | 8 | `gripper_force` | `gripper_force` | Commanded `cmd_gripper_force` (`SET FOR`), send time | |
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| Until the first grip command in an episode, indices 6–8 are **0**. They are **not** filled from observed gripper state. |
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| Look-ahead features (`action.ee_pose_*`) are derived from observed TCP and are the intended arm supervision for freemotion / freedrive demos when commanded arm channels are empty. |
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| ### Cameras (RGB + depth) |
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| Present when the corresponding feed was recorded. Depth keys use LeRobot native `*_depth` video features. |
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| | Feature | Modality | |
| |---|---| |
| | `observation.images.workspace_front` | Wrist Camera, RGB video | |
| | `observation.images.workspace_side` | Workspace Camera, RGB video | |
| | `observation.images.workspace_front_depth` | Wrist Camera, Depth video | |
| | `observation.images.workspace_side_depth` | Workspace Camera, Depth video | |
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| ## Maintainers |
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| - Contact: [aya@ko-br.com](mailto:aya@ko-br.com), [info@ko-br.com](mailto:info@ko-br.com) |
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