xarm-wire-rope-v0

A single-task teleoperation dataset for wiring a rope through two rings, collected on an xArm7 robot arm via phone teleoperation.

Overview

Field	Value
Robot	xArm7
Tasks	1
Episodes	210
Total frames	290,153
Total duration	161.2 min (2 h 41 min)
FPS	30
Format	LeRobot v3.0

Tasks

task_index	Description	Episodes	Duration
0	Wire the rope through two rings	210	~161.2 min

Episode Length

Stat	Frames	Seconds
Min	772	25.7
Median	1347	44.9
Mean	1382	46.1
Max	2387	79.6

Observation Space

State (observation.state) — float32[15]

Index	Name	Description
0–2	tcp.x/y/z	TCP position (meters)
3–6	tcp.qw/qx/qy/qz	TCP orientation as quaternion (scalar-first, canonical w ≥ 0)
7–13	joint.0–joint.6	Joint angles (radians)
14	gripper	Gripper state

Cameras

Key	Resolution	FPS	Codec	Description
observation.images.ego	320×240	30	h264	Third-person egocentric view (downsampled 2× from 640×480)
observation.images.wrist	320×240	30	h264	Wrist-mounted camera (downsampled 2× from 640×480)

Action Space

Action (action) — float32[8]

Index	Name	Description
0–2	tcp.x/y/z	Target TCP position (meters)
3–6	tcp.qw/qx/qy/qz	Target TCP orientation as quaternion (scalar-first)
7	gripper	Target gripper command

Dataset Structure

xarm-wire-rope-v0/
├── data/
│   └── chunk-000/
│       └── file-000.parquet          # All frames (290,153 rows)
├── videos/
│   └── chunk-000/
│       ├── observation.images.ego/   # 3 × file-NNN.mp4 (packed, ≤200 MB each)
│       └── observation.images.wrist/ # 3 × file-NNN.mp4 (packed, ≤200 MB each)
└── meta/
    ├── info.json
    ├── stats.json
    ├── tasks.parquet
    └── episodes/
        └── chunk-000/
            └── file-000.parquet      # Per-episode metadata and stats

Videos were recorded one MP4 per episode at 640×480, then packed into multi-episode files and downsampled 2× via teleoperation/combined_videos.py. Each camera key is split across three packed files (episodes 0–80 in file-000.mp4, 81–152 in file-001.mp4, 153–209 in file-002.mp4). Per-episode timestamp ranges and file assignments are recorded in meta/episodes/.../file-000.parquet under videos/<key>/file_index, videos/<key>/from_timestamp, and videos/<key>/to_timestamp.