ur5e-flask-3cam-final0918

UR5e real-robot teleoperation dataset (LeRobot v2.1) for picking an Erlenmeyer flask and placing it into a tray. Recorded in the near-final ("production") cell layout with three real cameras.

• Robot: UR5e + Robotiq gripper
• Task: Pick the Erlenmeyer flask and put it into the tray.
• Episodes: 42
• Frames: 29,946 @ 30 fps (~19–28 s / episode)
• State / Action: 7-dim each = 6 arm joints (deg) + 1 gripper (0.0 open → 1.0 close)
• Cameras (640×480, video):
  • observation.images.front — front RealSense
  • observation.images.side — side USB camera (Sonix)
  • observation.images.top — top RealSense
• Sources (real robot, not sim):
  • arm obs = UR5e /joint_states (deg); arm action = joint position target (deg)
  • gripper obs = Robotiq /gripper/state_position /255; action = target /255

Modality

GR00T modality.json included: single_arm = state/action[0:6], gripper = [6:7], video keys front / side / top, human.task_description from task_index.

Notes

• All camera streams verified as real (no sim frames).
• Gripper actuates in every episode (grasp confirmed; closes to ~0.61 on the flask body).
• Recorded 2026-09-18.