ko-br/cnc_cleaning

About

The episodes in this dataset are cleaning episodes that start with the robotic arm picking up the cleaning tool and then proceeding to wipe the CNC worktable.

Dataset summary

Field	Value
Robot	UR10e (6-DoF)
Gripper	Robotiq Hand-E
Cameras	Intel Realsense 435
Episodes	12
Frames	20,593
FPS	30
Tasks / language instructions	pick up the blue cleaning cloth wrapped around the rectangular tool and clean the surface of the CNC worktable

Feature dictionary (all columns)

Shapes below match meta/info.json. LeRobot standard index columns (timestamp, frame_index, episode_index, index, task_index) are also present.

Observations

Feature	Dtype / shape	Names / semantics
observation.state	float32 [6]	Joint positions: Base, Shoulder, Elbow, Wrist 1, Wrist 2, Wrist 3 (rad)
observation.ee_pose	float32 [6]	TCP pose [x, y, z, rx, ry, rz] (m / UR rotation vector)
observation.ee_force_torque	float32 [6]	TCP wrench [Fx, Fy, Fz, Tx, Ty, Tz]
observation.gripper_state	float32 [1]	Measured aperture POS/255 in [0, 1] (0 open, 1 closed)
observation.gripper_current	float32 [1]	Motor current (A) ≈ COU * 0.01
observation.gripper_object	float32 [1]	Hand-E OBJ: 0 moving, 1 outer stop, 2 inner stop, 3 at request
observation.gripper_status	float32 [1]	Hand-E STA: 0 reset, 1 activating, 3 active
observation.gripper_fault	float32 [1]	Hand-E FLT code (0 = none)
observation.gripper_position_request_echo	float32 [1]	PRE/255 last commanded position echo
observation.gripper_speed_request_echo	float32 [1]	SPE/255 last commanded speed echo
observation.gripper_force_request_echo	float32 [1]	FOR/255 last commanded force echo

Actions

Feature	Dtype / shape	Names / semantics
action	float32 [9]	See action layout below
action.ee_pose_next	float32 [6]	Observed TCP at t+1 (last frame repeats t); filled on assemble/export
action.ee_pose_delta	float32 [6]	Observed ee_pose[t+1] - ee_pose[t] (last frame zeros); filled on assemble/export

action layout (always 9-D):

Index	joint_positions names	ee_pose_delta names	Source
0…5	Base…Wrist 3	x…rz	Sticky commanded cmd_joint_positions or cmd_ee_pose_delta (export-time choice)
6	gripper	gripper	Commanded cmd_gripper (SET POS), recorded at send time
7	gripper_speed	gripper_speed	Commanded cmd_gripper_speed (SET SPE), send time
8	gripper_force	gripper_force	Commanded cmd_gripper_force (SET FOR), send time

Until the first grip command in an episode, indices 6–8 are 0. They are not filled from observed gripper state.

Look-ahead features (action.ee_pose_*) are derived from observed TCP and are the intended arm supervision for freemotion / freedrive demos when commanded arm channels are empty.

Cameras (RGB + depth)

Present when the corresponding feed was recorded. Depth keys use LeRobot native *_depth video features.

Feature	Modality
observation.images.workspace_front	Wrist Camera, RGB video
observation.images.workspace_side	Workspace Camera, RGB video
observation.images.workspace_front_depth	Wrist Camera, Depth video
observation.images.workspace_side_depth	Workspace Camera, Depth video

Maintainers

• Contact: aya@ko-br.com, info@ko-br.com