Datasets:
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timestamp float32 0 29.4 ⌀ | frame_index int64 0 588 ⌀ | episode_index int64 0 26 ⌀ | index int64 0 12.4k ⌀ | task_index int64 0 0 ⌀ | raw.forceps_open_ratio_raw float32 0 0.5 ⌀ | raw.forceps_open_ratio_command float32 0 1 ⌀ | raw.forceps_grasping_force_filtered float32 -2.21 0.22 ⌀ | raw.forceps_grasping_force_db float32 -2.21 0 ⌀ | raw.cylinder_pressure_head_pressure_filtered float32 81.5 200 ⌀ | raw.cylinder_pressure_rod_pressure_filtered float32 0.51 127 ⌀ | raw.cylinder_force_driven_raw float32 -1.58 22.4 ⌀ | raw.force_dimension_state listlengths 34 34 ⌀ | raw.ur3e_joint_states listlengths 14 14 ⌀ | raw.ur3e_tcp_pose listlengths 9 9 ⌀ | raw.ur3e_tcp_pose_camera listlengths 9 9 ⌀ | raw.ur3e_tcp_twist listlengths 8 8 ⌀ | raw.ur3e_tcp_twist_camera listlengths 8 8 ⌀ | raw.ur3e_tcp_wrench listlengths 8 8 ⌀ | raw.ur3e_tcp_wrench_camera listlengths 8 8 ⌀ | raw.ur3e_rcm_alignment_error float32 0 0 ⌀ | raw.ur3e_rcm_alignment float32 1 1 ⌀ | observation.state listlengths 6 6 ⌀ | action listlengths 5 5 ⌀ |
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-0.000007463177098543383,
-0.00001435949707229156,
0.010161183774471283,
12.073795318603516,
0
] | [
0,
0,
0,
0,
0
] |
End of preview. Expand in Data Studio
ur3e_grasping_adipose_tissue
Private research dataset for UR3e imitation learning. Demonstrations were
recorded through the project's teleoperation pipeline for the task
grasp adipose tissue.
Dataset summary
- Robot:
ur3e - LeRobot format:
v3.0 - Episodes:
27 - Frames:
12426 - Frame rate:
20.0Hz - RGB input:
observation.images.endoscope - Depth input:
observation.images.endoscope_depth
The depth stream is stored as the LeRobot video feature observation.images.endoscope_depth and is decoded in metres for training.
Policy inputs
The intended policy input is RGB + depth + observation.state.
observation.state
| Index | Name |
|---|---|
| 0 | tcp_linear_x |
| 1 | tcp_linear_y |
| 2 | tcp_linear_z |
| 3 | forceps_open_ratio_raw |
| 4 | joint_6_roll |
| 5 | grasping_force_db |
action
| Index | Name |
|---|---|
| 0 | delta_position_x |
| 1 | delta_position_y |
| 2 | delta_position_z |
| 3 | delta_q6 |
| 4 | gripper_open_ratio |
The first four action values are the Cartesian delta and joint-6 roll command
used by the teleoperation DeltaCommand path. The fifth value is the gripper
open ratio and is represented separately by the deployment interface because
DeltaCommand has no gripper field.
Intended use and limitations
This dataset is intended for internal research and imitation-learning experiments on the UR3e setup. It is not a medical dataset, and it must not be used to make clinical decisions. Validate synchronization, image/depth quality, workspace limits, and robot safety before deploying a trained policy.
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