JingwuLuo/pick_and_place_quick_new

UR3 pick and place, quick, new (raw HDF5)

Raw teleoperation episodes from a dual-arm UR3 rig (two UR3 CB3 arms, DH PGE grippers), recorded on 2026-11-03, 19:07–20:21 local time. 80 episodes, episode_0000.hdf5 … episode_0080.hdf5, one HDF5 file per episode, 24,636 steps (13.7 min at 30 Hz), 3.09 GiB. Episode number 0049 was discarded at recording time and is absent. Every recorded episode is included as-is, without filtering or cleaning; the table below lists per-episode measurements.

Revision 83f57589 of this repository holds a different set: 71 episodes of 2026-11-02 with a 320×240 top camera.

Task: the right arm picks a cube (pink, orange or blue) and places it on another cube, the white box or the plate; the left arm stays at its home pose. Episode 0005, for example, puts the pink cube on the white box, and episode 0060 the blue cube on the pink cube. The right arm moves in 77 episodes; 0029–0031 have no arm motion. language_instruction is pick and place in every episode.

Rig

• Teleoperation: Meta Quest (WebXR) → joint-velocity (speedJ) control at 30 Hz, max_joint_vel 2.5 rad/s, speedj_accel 6.0 rad/s²; VR follow relative to the pose latched at the trigger press (motion_scale 1.0, rotation_scale 0.6, vr_follow_gain 3.0 1/s); thumbstick axis rotation about a horizontal tool axis through the fingertip (rotate_tilt_deg 90).
• Grippers: open command 433 per mille of the stroke (gripper_opening reads 0.433 when open), force 100 %.
• Cameras (Intel RealSense, RGB, JPEG): top D435i 640×360 (a 16:9 mode: the full sensor width, wider than the 4:3 320×240 of the earlier recordings); left_wrist / right_wrist D405 424×240.
• Recorder: 30 Hz absolute step grid with a freshness gate (a step is stored only when every camera has a new frame, so no frame repeats).
• Code: branch rotate-around-axis of the rig's teleoperation code (recorder ros2_ws/src/data_recorder/data_recorder/episode_writer.py).

Controller-to-arm mapping

The fingertip moves and the gripper turns like the controller relative to the trigger press: the controller's move and turn are taken in its horizontal heading frame at the press and applied in one fixed base frame, the same for translation and rotation: controller forward → base +y, right → base +x, up → base +z. Measured from teleop/<arm>/controller_pose and teleop/<arm>/follow_target over the engage segments with more than 5 cm of hand motion: the translation matches this map in 60 of 61 segments.

HDF5 layout

Same layout as JingwuLuo/pick_and_place_cube_quick.

attrs: language_instruction, episode_id, record_hz (measured), timestamp, sim, compress,
       cameras, arms ["left","right"], eef_frame, fingertip_offset_m [0, 0, 0.254]
observations/{left,right}/
    joint_pos (T,6) rad   joint_vel (T,6) rad/s   joint_current (T,6) A
    eef_pose (T,7) flange (tool0) in the arm base frame, xyz m + quaternion xyzw
    gripper_opening (T,) 0..1 of the stroke (1 = fully open; the open command is 0.433)
    gripper_state (T,) uint8, DH register 0x0201 (0 moving, 1 at target, 2 object caught, 3 object dropped)
observations/images/{top,left_wrist,right_wrist}       (T,max_len) uint8, zero-padded JPEG bytes
observations/images/{top,left_wrist,right_wrist}_len   (T,) int32 JPEG byte count
observations/scale/{weight_g,age_s} (T,)               bench scale
command/{left,right}/
    source (T,) str: idle | stop | vr | movej | halted | rotate | wrist | shake
    engaged (T,) bool   eef_twist (T,6)   joint_vel (T,6) speedJ rad/s
    gripper (T,) 0 open / 1 closed   boundary_limited (T,) bool
teleop/{left,right}/
    controller_pose (T,7)  controller_fresh (T,)  deadman (T,)  axis_rotate (T,)  wrist_rotate (T,)
    follow_target (T,7)    follow_target_valid (T,)
timestamps/ step, top, left_wrist, right_wrist, {left,right}_state, {left,right}_command, scale   (Unix s)
events/ time, arm, kind, value, detail          gripper toggles, home / resume, etc.
params/ time + one dataset per teleop parameter (values in effect at the episode start)

Decode a frame: cv2.imdecode(f["observations/images/top"][i, :f["observations/images/top_len"][i]], 1).

Measured

• record_hz is 30.0 in every episode except 0018 (8.2, a 5.8 s step gap during which no step was stored).
• Episodes 0026–0031 have no gripper close and no teleop step; 0029–0031 have no arm motion. Episodes 0000, 0025, 0041 and 0047 spend at least half of their steps without teleop input.
• home_movej_steps counts steps with command/<arm>/source == "movej" (return-to-home segments); every episode except 0022 and 0029 has one.
• The scale reading changes by at most 0.025 g within an episode.

Episodes

The same table, with more columns (teleop_steps, home_movej_steps, gripper_closes, step_gap_max_s, recorded_at), is in episodes.csv (shown in the dataset viewer).

episode	steps	rate (Hz)	duration (s)	arm used	notes
0000	294	30	9.8	right	10 s, mostly idle (138 teleop steps)
0001	320	30	10.6	right
0002	255	30	8.5	right
0003	246	30	8.2	right
0004	268	30	8.9	right
0005	248	30	8.2	right
0006	272	30	9.0	right
0007	328	30	10.9	right
0008	320	30	10.6	right
0009	256	30	8.5	right
0010	276	30	9.2	right
0011	286	30	9.5	right
0012	355	30	11.8	right
0013	280	30	9.3	right
0014	304	30	10.1	right
0015	268	30	8.9	right
0016	254	30	8.4	right
0017	279	30	9.3	right
0018	68	8.2	8.1	right	step gap 5.8 s; gripper never closed; 8 s, mostly idle (20 teleop steps)
0019	267	30	8.9	right
0020	344	30	11.4	right
0021	378	30	12.6	right
0022	294	30	9.8	right	no return-to-home segment
0023	387	30	12.9	right
0024	358	30	11.9	right
0025	981	30	32.7	right	33 s, mostly idle (89 teleop steps)
0026	552	30	18.4	right	gripper never closed; 18 s, mostly idle (0 teleop steps)
0027	229	30	7.6	right	gripper never closed; 8 s, mostly idle (0 teleop steps)
0028	281	30	9.3	right	gripper never closed; 9 s, mostly idle (0 teleop steps)
0029	1059	30	35.3	none	no arm motion; gripper never closed; 35 s, mostly idle (0 teleop steps); no return-to-home segment
0030	189	30	6.3	none	no arm motion; gripper never closed; 6 s, mostly idle (0 teleop steps)
0031	187	30	6.2	none	no arm motion; gripper never closed; 6 s, mostly idle (0 teleop steps)
0032	272	30	9.0	right
0033	266	30	8.8	right
0034	267	30	8.9	right
0035	283	30	9.4	right
0036	251	30	8.3	right
0037	311	30	10.3	right
0038	238	30	7.9	right
0039	251	30	8.3	right
0040	252	30	8.4	right
0041	315	30	10.5	right	10 s, mostly idle (136 teleop steps)
0042	264	30	8.8	right
0043	358	30	11.9	right
0044	268	30	8.9	right
0045	427	30	14.2	right
0046	216	30	7.2	right
0047	532	30	17.7	right	18 s, mostly idle (213 teleop steps)
0048	402	30	13.4	right
0050	531	30	17.7	right
0051	243	30	8.1	right
0052	444	30	14.8	right
0053	369	30	12.3	right
0054	205	30	6.8	right
0055	230	30	7.6	right
0056	253	30	8.4	right
0057	250	30	8.3	right
0058	276	30	9.2	right
0059	239	30	7.9	right
0060	248	30	8.2	right
0061	260	30	8.6	right
0062	272	30	9.0	right
0063	266	30	8.8	right
0064	251	30	8.3	right
0065	289	30	9.6	right
0066	237	30	7.9	right
0067	226	30	7.5	right
0068	319	30	10.6	right
0069	241	30	8.0	right
0070	310	30	10.3	right
0071	335	30	11.1	right
0072	256	30	8.5	right
0073	223	30	7.4	right
0074	275	30	9.1	right
0075	240	30	8.0	right
0076	252	30	8.4	right
0077	342	30	11.4	right
0078	357	30	11.9	right
0079	295	30	9.8	right
0080	246	30	8.2	right