JingwuLuo/pick_and_place_cube_quick_ur3

UR3 pick and place cube, quick — cleaned and language-annotated

Derived from the raw recording JingwuLuo/pick_and_place_cube_quick (revision 6b1c45b7): dual-arm UR3 rig, right arm only, Meta Quest teleoperation under joint-velocity (speedJ) control. LeRobot v2.1, 107 episodes, 31,910 rows at 30 fps (25,490 recorded rows and 6,420 end-padding rows), 316 distinct instructions, images embedded in the parquet files as the recorded JPEG bytes.

Processing

1. Episodes kept. The 129 raw episodes (two recording days) minus the 22 below:

   • 0000: not a cube task: moves the white spoon from the white box to the table next to the fork
   • 0002: step gap of 6.3 s; measured rate 20.6 Hz
   • 0004: not a cube task: moves the white spoon out of the plate, then the green mug onto the plate
   • 0005: not a cube task: puts the white spoon into the blue bowl
   • 0006: not a cube task: puts the small black block into the green tray
   • 0007: a teleoperated reset recorded as an episode: puts a cube back on the table, undone by the next episode
   • 0009: step gap of 4.5 s; measured rate 2.7 Hz; 14 steps
   • 0020: a person reaches into the scene and moves the orange and blue cubes during the arm's return home (steps about 340 to 580)
   • 0021: no arm motion and no gripper command; nothing left once still frames are dropped
   • 0031: step gap of 5.9 s; measured rate 15.5 Hz
   • 0056: step gap of 5.5 s; measured rate 19.5 Hz
   • 0066: starts with a teleoperated reset (moves the cube occupying the target away) before the task
   • 0071: starts with a teleoperated reset (moves the cube occupying the target away) before the task
   • 0073: starts with a teleoperated reset (moves the cube occupying the target away) before the task
   • 0078: starts with a teleoperated reset (moves the cube occupying the target away) before the task
   • 0079: starts with a teleoperated reset (moves the cube occupying the target away) before the task
   • 0086: starts with a teleoperated reset (moves the cube occupying the target away) before the task
   • 0087: starts with a teleoperated reset (moves the cube occupying the target away) before the task
   • 0089: starts with a teleoperated reset (moves the cube occupying the target away) before the task
   • 0125: after its single move a person rearranges the cubes from about step 360 to 700 (recording kept running through the reset); one step interval of 0.07 s
   • 0126: no arm motion and no gripper command: an empty 4.8 s recording right after episode 125
   • 0127: a teleoperated reset recorded as an episode: puts a cube back on the table, undone by the next episode

   Teleoperated scene resets recorded as episodes and episodes that start with such a reset are excluded, so every kept episode is one intended task. Seven kept episodes (raw 0028, 0047, 0080, 0082, 0100, 0117, 0122) contain a missed grasp followed by a successful re-grasp, about 1.8% of the frames.

2. Still frames dropped. A still stretch is at least 5 consecutive rows whose largest joint change is below 0.002 rad per frame (0.06 rad/s). Still stretches before the first motion, after the last motion and anywhere else are dropped, together with their images and action labels, except stillness within 8 rows before to 15 rows after a right-gripper command switch. Of 35,926 recorded rows, 10,436 are dropped (4,283 before the first motion, 3,312 mid-episode, 2,841 after the last motion). No still stretch overlaps a gripper window: the arm keeps moving around the gripper switches. The automatic return home at the end of 87 episodes is motion and stays.

3. End padding. Every episode ends with 60 rows (2 s) holding its final target: the action repeats the last target, the state equals it, the images repeat the source episode's last frame. These rows have is_padding = 1.

4. Instructions. Every episode was annotated from its camera frames at the start, at every gripper switch and at the end, with five English instructions that name what that episode does (which object, from where, onto what, how many moves), varied in wording and detail: a plain command, a step-by-step description, a paraphrase with synonyms, a polite request and a terse phrase. Each row's task_index points to the episode's first instruction; meta/episodes.jsonl lists all five under tasks, and meta/tasks.jsonl holds every distinct instruction.

Features

key	dtype, shape	content
observation.state	float32 (14)	left joints 0–5 (rad), left gripper 6, right joints 7–12, right gripper 13; a gripper is its command (0 open, 1 closed)
action	float32 (14)	observation.state of the next recorded row: absolute joint targets and the gripper command
observation.images.cam_high	image 240×320	top camera (RealSense D435i)
observation.images.cam_left_wrist	image 240×424	left wrist camera (RealSense D405)
observation.images.cam_right_wrist	image 240×424	right wrist camera (RealSense D405)
task_index	int64	the episode's first instruction
is_padding	float32 (1)	1 on the 60 appended rows

timestamp, frame_index, episode_index and index are contiguous after the rows were dropped. The left arm does not move in any episode.

meta/conversion_report.json maps raw episodes to episodes here and lists the exclusions; meta/timing_report.json lists every still stretch per episode and what was dropped.

Loading

from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("JingwuLuo/pick_and_place_cube_quick_ur3")
sample = ds[0]  # sample["task"] is the episode's first instruction

Episodes

Recorded rows before and after dropping still frames; each episode then has 60 padding rows.

episode	raw episode	rows in	rows kept	gripper closes	scene
0	0001	303	157	1	picks the orange cube from the table and puts it on the white box
1	0003	246	162	1	picks the orange cube from the table and puts it on the white box
2	0008	205	131	1	picks the orange cube from the table and puts it on the white box
3	0010	272	180	1	picks the orange cube from the top of the blue cube and puts it on the white box
4	0011	203	149	1	picks the orange cube from the top of the white box and puts it on the plate
5	0012	225	152	1	picks the blue cube from the table and puts it on the white box
6	0013	223	158	1	picks the blue cube from the top of the white box and stacks it on the orange cube sitting on the plate
7	0014	224	157	1	picks the pink cube from the table and puts it on the white box
8	0015	214	149	1	picks the blue cube from the top of the orange cube on the plate and stacks it on the pink cube on the white box
9	0016	226	155	1	picks the orange cube from the top of the blue cube and puts it on the plate
10	0017	263	199	1	picks the orange cube from the plate and puts it on the white box
11	0018	192	127	1	picks the blue cube from the table and puts it on the plate
12	0019	204	141	1	picks the orange cube from the top of the white box and stacks it on the blue cube sitting on the plate
13	0022	201	135	1	picks the blue cube from the table and puts it on the plate
14	0023	277	214	1	picks the orange cube from the table and puts it on the white box
15	0024	495	376	1	picks the pink cube from the table and stacks it on the orange cube sitting on the white box
16	0025	266	171	1	picks the blue cube from the plate and stacks it on top of the pink cube, completing a tower of orange, pink and blue cubes on the white box
17	0026	243	149	1	picks the pink cube from the top of the white box and puts it on the plate
18	0027	200	142	1	picks the orange cube from the top of the white box and stacks it on the pink cube sitting on the plate (an open command at frame 2 with nothing held)
19	0028	381	309	4	picks the blue cube from the table, sets it down and re-grasps it three times, then puts it on the white box
20	0029	264	202	1	picks the orange cube from the table and puts it on the white box
21	0030	471	322	1	picks the blue cube from the table and stacks it on the orange cube sitting on the white box
22	0032	300	173	1	picks the blue cube from the table and puts it on the white box
23	0033	367	264	1	picks the orange cube from the table and stacks it on the blue cube sitting on the white box
24	0034	442	331	2	picks the pink cube from the plate and puts it on the table, then picks the orange cube from the top of the blue cube on the white box and puts it on the plate
25	0035	482	370	2	picks the orange cube from the plate and stacks it on the pink cube on the table, then picks the blue cube from the white box and puts it on the plate
26	0036	283	160	1	picks the orange cube from the top of the pink cube and puts it on the white box
27	0037	276	173	1	picks the pink cube from the top of the blue cube and puts it on the white box
28	0038	387	273	2	picks the pink cube from the top of the blue cube and puts it on the plate, then picks the blue cube from the table and puts it on the white box
29	0039	429	328	2	picks the blue cube from the white box and stacks it on the orange cube on the table, then picks the pink cube from the plate and puts it on the white box
30	0040	486	357	2	picks the blue cube from the top of the pink cube and puts it on the white box, then picks the pink cube from the table and puts it on the plate
31	0041	489	357	2	picks the pink cube from the plate and stacks it on the orange cube, then picks the blue cube from the white box and stacks it on the pink cube, building a tower of orange, pink and blue cubes on the table
32	0042	612	486	3	unstacks a tower of blue on pink on orange cubes: the blue cube onto the plate, the pink cube onto the table behind the plate, the orange cube onto the white box
33	0043	528	431	3	picks the blue cube from the top of the orange cube and puts it on the plate, then stacks the orange cube from the white box on the blue cube, then puts the pink cube on the white box
34	0044	407	221	1	picks the orange cube from the plate and puts it on the white box
35	0045	267	151	1	picks the pink cube from the table and puts it on the plate
36	0046	569	467	3	picks the pink cube from the top of the blue cube and sets it on the table, stacks the orange cube on the blue cube, then stacks the pink cube on the orange cube, building a tower of blue, orange and pink cubes
37	0047	729	617	4	picks the pink cube from the plate and puts it on the white box, stacks the orange cube on the pink cube, then picks the blue cube, sets it down and re-grasps it, and stacks it on the orange cube, building a tower of pink, orange and blue cubes on the white box
38	0048	614	485	3	moves a tower of pink, orange and blue cubes from the white box onto the plate one cube at a time: the blue cube onto the plate, the orange cube on the blue cube, the pink cube on the orange cube
39	0049	411	277	1	picks the orange cube from the table and puts it on the white box
40	0050	302	183	1	picks the pink cube from the table and puts it on the plate
41	0051	490	342	1	picks the blue cube from the table and stacks it on the pink cube sitting on the plate
42	0052	556	447	3	picks the blue cube from the top of the pink cube on the plate and sets it on the table, stacks the pink cube on the blue cube, then picks the orange cube from the white box and puts it on the plate
43	0053	648	473	2	picks the orange cube from the plate and puts it on the table, then picks the pink cube from the top of the blue cube and puts it on the plate
44	0054	1011	846	3	picks the orange cube from the table and puts it on the white box, stacks the blue cube on the orange cube, then picks the pink cube from the plate and stacks it on the blue cube, building a tower of orange, blue and pink cubes on the white box
45	0055	635	508	1	picks the pink cube from the top of the tower on the white box and puts it on the plate
46	0057	430	296	2	picks the pink cube from the top of the orange cube and puts it on the white box, then picks the orange cube from the table and puts it on the plate
47	0058	312	211	1	picks the orange cube from the table and places it on the plate
48	0059	382	244	1	picks the orange cube from the top of the pink cube sitting on the white box and places it on the plate
49	0060	295	191	1	picks the orange cube, which appears to sit on top of the blue cube on the table, and places it on the plate (source uncertain: the blue cube stays hidden behind or under the orange cube in every view until the orange cube is lifted, so the orange cube may instead have been standing on the table directly in front of the blue cube)
50	0061	296	209	1	picks the orange cube from the top of the white box and places it on the plate
51	0062	254	160	1	picks the orange cube from the top of the pink cube on the table and places it on the plate
52	0063	299	177	1	picks the orange cube from the top of the blue cube on the table and places it on the plate
53	0064	333	233	1	picks the orange cube from the table and places it on the plate
54	0065	337	242	1	picks the orange cube from the table and places it on the plate
55	0067	282	193	1	picks the blue cube from the table and places it on top of the white box
56	0068	316	170	1	picks the blue cube from the top of the orange cube sitting on the plate and places it on the white box
57	0069	330	220	1	picks the blue cube from the top of the pink cube on the table and places it on the white box
58	0070	361	234	1	picks the blue cube from the table and places it on top of the white box
59	0072	368	233	1	picks the blue cube from the table and places it on top of the white box
60	0074	249	162	1	picks the blue cube from the top of the orange cube on the table and places it on the plate
61	0075	354	274	1	picks the blue cube from the top of the white box and places it on the plate; the pink cube stays stacked on the orange cube
62	0076	337	242	1	picks the blue cube from the table and places it on the plate; the pink cube stays on the white box
63	0077	348	253	1	picks the blue cube from the table behind the white box and places it on the plate; the pink cube stays on the white box
64	0080	356	256	2	the first grasp of the blue cube on the table misses and the gripper reopens, then the arm re-grasps the blue cube from the table and places it on the plate; the orange cube stays on the white box
65	0081	273	184	1	picks the blue cube from the table next to the orange cube and places it on the plate
66	0082	296	231	2	the first grasp of the blue cube on the white box closes and reopens without lifting it, then the arm re-grasps the blue cube from the white box and places it on the plate
67	0083	318	209	1	picks the blue cube from the top of the pink cube on the table and places it on the plate
68	0084	260	181	1	picks the pink cube from the table and places it on the white box; the blue cube stays on the plate
69	0085	261	175	1	picks the pink cube from the table at the left and places it on the white box; the blue cube stays on the plate
70	0088	249	163	1	picks the blue cube from the table and places it on the white box; the orange cube stays on the plate
71	0090	274	183	1	picks the pink cube from the top of the blue cube on the table and places it on the white box; the orange cube stays on the plate
72	0091	281	191	1	picks the pink cube from the top of the orange cube sitting on the plate and places it on the white box
73	0092	261	162	1	picks the pink cube from the top of the orange cube on the plate and places it on the white box, leaving the orange cube on the plate
74	0093	275	173	1	picks the pink cube from the table and places it on the white box
75	0094	319	211	1	picks the pink cube from the table next to the orange-on-blue stack and places it on the white box
76	0095	357	264	1	picks the pink cube from the plate and places it on the white box
77	0096	253	162	1	picks the pink cube from the top of the blue cube on the table and places it on the white box
78	0097	398	308	1	picks the pink cube from the white box and puts it on the plate
79	0098	259	194	1	picks the pink cube from the top of the blue cube on the table and puts it on the plate
80	0099	263	203	1	picks the pink cube from the top of the blue cube on the table and puts it on the plate
81	0100	330	203	2	misses the first grasp on the pink cube sitting on the white box, re-grasps it, and puts it on the plate
82	0101	325	254	1	picks the pink cube from the table and puts it on the plate
83	0102	312	225	1	picks the orange cube from the table and stacks it on the pink cube sitting on the plate
84	0103	263	179	1	picks the orange cube from the top of the pink cube on the plate and stacks it on the blue cube on the table
85	0104	248	193	1	picks the orange cube from the plate and stacks it on the pink cube sitting on the white box
86	0105	387	282	1	picks the orange cube from the plate and stacks it on the blue cube on the table
87	0106	274	208	1	picks the orange cube from the top of the blue cube and stacks it on the pink cube sitting on the white box
88	0107	268	190	1	picks the orange cube from the table and stacks it on the blue cube next to it
89	0108	279	219	1	picks the orange cube from the top of the blue cube and stacks it on the pink cube on the table
90	0109	273	175	1	picks the orange cube from the top of the white box and stacks it on the blue cube on the table
91	0110	313	213	1	picks the orange cube from the top of the white box and stacks it on the pink cube on the table next to the plate
92	0111	268	178	1	picks the orange cube from the table and stacks it on the blue cube next to it
93	0112	293	165	1	picks the orange cube off the top of the blue cube and stacks it on the pink cube on the table near the plate
94	0113	317	217	1	picks the orange cube from the top of the white box and stacks it on the blue cube on the table
95	0114	310	210	1	picks the orange cube from the top of the white box and stacks it on the pink cube on the table in front of the plate
96	0115	257	195	1	picks the blue cube from the table and stacks it on the orange cube sitting on the plate
97	0116	273	181	1	picks the blue cube from the table and stacks it on the pink cube sitting on the white box
98	0117	285	216	2	misses the blue cube on the first grasp, re-grasps it from the table and stacks it on the pink cube next to the plate
99	0118	241	170	1	picks the blue cube from the table and stacks it on the orange cube sitting on the white box
100	0119	258	193	1	picks the blue cube from the table and stacks it on the pink cube on the table
101	0120	274	196	1	picks the pink cube from the table and stacks it on the blue cube sitting on the plate
102	0121	254	182	1	picks the pink cube from the table and stacks it on the orange cube sitting on the white box
103	0122	363	269	2	misses the pink cube on the first grasp, re-grasps it from the table and stacks it on the orange cube on the table
104	0123	369	265	1	picks the pink cube from the table and stacks it on the blue cube sitting on the white box
105	0124	278	189	1	picks the pink cube from the plate and stacks it on the blue cube sitting on the white box
106	0128	260	172	1	picks the pink cube from the table and stacks it on the orange cube on the table