sk1700/iros5

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