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UR3 pick and place — cleaned LeRobot v2.1
41 episodes, three RGB video streams, 30 FPS. Source: JingwuLuo/UR3-pick-and-place, revision 36c6dac4837c3049ee232880de3655556467e565. Uses the reviewed cleaned HDF5 files.
- observation.state: left joint positions (6, radians), left measured gripper opening (1 = fully open), right joint positions (6), right measured gripper opening.
- action: left commanded joint velocities (6, rad/s), left gripper close command (0 open / 1 closed), right commanded joint velocities (6), right gripper close command. These are recorded speedJ commands, NOT absolute joint position targets or next-state labels.
- Cameras: top -> cam_high (320x240), left_wrist -> cam_left_wrist (424x240), right_wrist -> cam_right_wrist (424x240). Native image dimensions preserved.
- Tasks come from each cleaned episode's reviewed language_instruction.
30 Hz source rows are preserved. 50 Hz data is sampled to the nearest frame on a 30 Hz grid independently inside each retained continuous source segment. No interpolation across removed pauses. LeRobot timestamps are frame_index / 30 on a compressed timeline. source.timestamp retains original Unix capture time, source.frame_index retains original raw frame identity, and source.segment_index marks boundaries created by cleaning. Temporal chunks crossing segment boundaries span removed pauses; use these boundaries when exact physical timing is required. This is not a reconstruction of uninterrupted motion.
The existing absolute-position UR3 training/deployment configuration requires adaptation for these velocity actions. No training configuration or original HDF5 data was modified.
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