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choijoshua16
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ur5e-scan-objects

Tasks:

Robotics

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The dataset viewer is not available for this split.

Cannot load the dataset split (in streaming mode) to extract the first rows.

Error code:   StreamingRowsError
Exception:    CastError
Message:      Couldn't cast
seen: list<item: string>
  child 0, item: string
unseen: list<item: null>
  child 0, item: null
labels: string
episodes: list<item: struct<episode: int64, source_session: string, source_episode: int64, label: struct<>, fr (... 465 chars omitted)
  child 0, item: struct<episode: int64, source_session: string, source_episode: int64, label: struct<>, frames: int64 (... 453 chars omitted)
      child 0, episode: int64
      child 1, source_session: string
      child 2, source_episode: int64
      child 3, label: struct<>
      child 4, frames: int64
      child 5, dropped_frames: int64
      child 6, duration_s: double
      child 7, cameras: struct<countertop_camera: struct<serial: string, physical_role: string>, left_camera: struct<serial: (... 93 chars omitted)
          child 0, countertop_camera: struct<serial: string, physical_role: string>
              child 0, serial: string
              child 1, physical_role: string
          child 1, left_camera: struct<serial: string, physical_role: string>
              child 0, serial: string
              child 1, physical_role: string
          child 2, right_camera: struct<serial: string, physical_role: string>
              child 0, serial: string
              child 1, physical_role: string
      child 8, gripper_open_native: int64
      child 9, gripper_close_native: int64
      child 10, ft_zero: struct<zeroed: bool, reason: string, tcp_speed_m_rad_s: list<item: double>>
          child 0, zeroed: bool
          child 1, reason: string
          child 2, tcp_speed_m_rad_s: list<item: double>
              child 0, item: double
      child 11, wrench_bias_N_Nm: list<item: double>
          child 0, item: double
      child 12, calibration_id: string
sessions: list<item: string>
  child 0, item: string
to
{'labels': Value('string'), 'sessions': List(Value('string')), 'episodes': List({'episode': Value('int64'), 'source_session': Value('string'), 'source_episode': Value('int64'), 'label': {}, 'frames': Value('int64'), 'dropped_frames': Value('int64'), 'duration_s': Value('float64'), 'cameras': {'countertop_camera': {'serial': Value('string'), 'physical_role': Value('string')}, 'left_camera': {'serial': Value('string'), 'physical_role': Value('string')}, 'right_camera': {'serial': Value('string'), 'physical_role': Value('string')}}, 'gripper_open_native': Value('int64'), 'gripper_close_native': Value('int64'), 'ft_zero': {'zeroed': Value('bool'), 'reason': Value('string'), 'tcp_speed_m_rad_s': List(Value('float64'))}, 'wrench_bias_N_Nm': List(Value('float64')), 'calibration_id': Value('string')})}
because column names don't match
Traceback:    Traceback (most recent call last):
                File "/src/services/worker/src/worker/utils.py", line 149, in get_rows_or_raise
                  return get_rows(
                      dataset=dataset,
                  ...<4 lines>...
                      column_names=column_names,
                  )
                File "/src/libs/libcommon/src/libcommon/utils.py", line 272, in decorator
                  return func(*args, **kwargs)
                File "/src/services/worker/src/worker/utils.py", line 129, in get_rows
                  rows_plus_one = list(itertools.islice(safe_iter(ds, dataset=dataset), rows_max_number + 1))
                File "/src/services/worker/src/worker/utils.py", line 544, in safe_iter
                  yield from ds.decode(False) if ds.features else ds
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 3052, in __iter__
                  for key, example in ex_iterable:
                                      ^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2559, in __iter__
                  for key, pa_table in self._iter_arrow():
                                       ~~~~~~~~~~~~~~~~^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2584, in _iter_arrow
                  for key, pa_table in self.ex_iterable._iter_arrow():
                                       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 558, in _iter_arrow
                  for key, pa_table in iterator:
                                       ^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 440, in _iter_arrow
                  for key, pa_table in self.generate_tables_fn(**gen_kwags):
                                       ~~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 361, in _generate_tables
                  self._cast_table(pa_table, json_field_paths=json_field_paths),
                  ~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 132, in _cast_table
                  pa_table = table_cast(pa_table, self.info.features.arrow_schema)
                File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2381, in table_cast
                  return cast_table_to_schema(table, schema)
                File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2309, in cast_table_to_schema
                  raise CastError(
                  ...<3 lines>...
                  )
              datasets.table.CastError: Couldn't cast
              seen: list<item: string>
                child 0, item: string
              unseen: list<item: null>
                child 0, item: null
              labels: string
              episodes: list<item: struct<episode: int64, source_session: string, source_episode: int64, label: struct<>, fr (... 465 chars omitted)
                child 0, item: struct<episode: int64, source_session: string, source_episode: int64, label: struct<>, frames: int64 (... 453 chars omitted)
                    child 0, episode: int64
                    child 1, source_session: string
                    child 2, source_episode: int64
                    child 3, label: struct<>
                    child 4, frames: int64
                    child 5, dropped_frames: int64
                    child 6, duration_s: double
                    child 7, cameras: struct<countertop_camera: struct<serial: string, physical_role: string>, left_camera: struct<serial: (... 93 chars omitted)
                        child 0, countertop_camera: struct<serial: string, physical_role: string>
                            child 0, serial: string
                            child 1, physical_role: string
                        child 1, left_camera: struct<serial: string, physical_role: string>
                            child 0, serial: string
                            child 1, physical_role: string
                        child 2, right_camera: struct<serial: string, physical_role: string>
                            child 0, serial: string
                            child 1, physical_role: string
                    child 8, gripper_open_native: int64
                    child 9, gripper_close_native: int64
                    child 10, ft_zero: struct<zeroed: bool, reason: string, tcp_speed_m_rad_s: list<item: double>>
                        child 0, zeroed: bool
                        child 1, reason: string
                        child 2, tcp_speed_m_rad_s: list<item: double>
                            child 0, item: double
                    child 11, wrench_bias_N_Nm: list<item: double>
                        child 0, item: double
                    child 12, calibration_id: string
              sessions: list<item: string>
                child 0, item: string
              to
              {'labels': Value('string'), 'sessions': List(Value('string')), 'episodes': List({'episode': Value('int64'), 'source_session': Value('string'), 'source_episode': Value('int64'), 'label': {}, 'frames': Value('int64'), 'dropped_frames': Value('int64'), 'duration_s': Value('float64'), 'cameras': {'countertop_camera': {'serial': Value('string'), 'physical_role': Value('string')}, 'left_camera': {'serial': Value('string'), 'physical_role': Value('string')}, 'right_camera': {'serial': Value('string'), 'physical_role': Value('string')}}, 'gripper_open_native': Value('int64'), 'gripper_close_native': Value('int64'), 'ft_zero': {'zeroed': Value('bool'), 'reason': Value('string'), 'tcp_speed_m_rad_s': List(Value('float64'))}, 'wrench_bias_N_Nm': List(Value('float64')), 'calibration_id': Value('string')})}
              because column names don't match

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UR5e scan_objects teleop demonstrations

SpaceMouse teleoperation of a UR5e with a Robotiq gripper, recorded with three Intel RealSense RGBD cameras. RoboPRO / RoboTwin-style HDF5, one file per episode.

Episodes: 1 (83 s, 1200 frames at 15 Hz)
Instruction: scan the objects on the table (instructions/episode{i}.json)
Recorded 2026-10-28

Layout

data/episode{i}.hdf5          one episode
instructions/episode{i}.json  {"seen": [instruction], "unseen": []}
specs/episode{i}.json         source session, frame counts, conventions
export_summary.json

Inside each HDF5 (N = frames):

Key	Shape	Meaning
`joint_state/vector`	(N, 14)	measured joints + gripper; UR5e in `[0:7]`, slots `[7:14]` unused (zeros, gripper 1)
`joint_action/vector`	(N, 14)	commanded joints (RTDE `target_q`) + gripper command, not shifted: use `action[t] = joint_action[t+1]`
`endpose/left_endpose`	(N, 7)	TCP pose
`observation/<cam>/rgb`	(N,)	lossless PNG bytes of the RGB array (`cv2.imdecode` returns RGB)
`observation/<cam>/depth`	(N,)	PNG uint16 depth in mm, aligned to colour
`observation/<cam>/intrinsic_cv`, `extrinsic_cv`, `cam2world_gl`	per frame	camera calibration
`real/`		raw wrench, joint currents, raw gripper, timestamps

Cameras: countertop_camera = fixed wall view, left_camera = wrist, right_camera = body-forward. Gripper value is 1 - POS/255 (1 = open). Frames where one camera had no frame within 33 ms of the wall camera are dropped, not filled (22 in this episode).

Downloads last month: 43

Total file size:

1.72 GB