Create README.md

README.md

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+---
+license: cc-by-4.0
+language:
+- en
+---
+
+<table>
+  <tr>
+    <th width="30%" style="font-size: 30px;">Task Overview</th>
+    <th width="70%" style="font-size: 30px;">Data Viewer</th>
+  </tr>
+  <tr>
+    <td style="vertical-align: middle; width:30%;">
+      <video width="100%" controls>
+        <source src="https://huggingface.co/datasets/ko-br/bulb_in_socket/resolve/main/videos/bulb_in_socket_video.mp4" type="video/mp4">
+      </video>
+    </td>
+    <td style="vertical-align: middle; width:70%;">
+      <video width="100%" controls>
+        <source src="https://huggingface.co/datasets/ko-br/bulb_in_socket/resolve/main/videos/data_viewer_one_episode.mp4" type="video/mp4">
+      </video>
+    </td>
+  </tr>
+</table>
+
+# About
+
+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.
+
+
+
+## Dataset summary
+
+| 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` |
+
+
+
+## Feature dictionary (all columns)
+
+Shapes below match `meta/info.json`. LeRobot standard index columns (`timestamp`, `frame_index`, `episode_index`, `index`, `task_index`) are also present.
+
+### Observations
+
+| 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 |
+
+### Actions
+
+| 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 |
+
+**`action` layout (always 9-D):**
+
+| 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 |
+
+Until the first grip command in an episode, indices 6–8 are **0**. They are **not** filled from observed gripper state.
+
+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.
+
+### Cameras (RGB + depth)
+
+Present when the corresponding feed was recorded. Depth keys use LeRobot native `*_depth` video features.
+
+| 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 |
+
+
+## Maintainers
+
+- Contact: [aya@ko-br.com](mailto:aya@ko-br.com), [info@ko-br.com](mailto:info@ko-br.com)
+