This dataset was created using LeRobot.
Dataset Description
Part B (a white disc with a hub and a bar) is found with the wrist camera, picked from the plate and seated into fixture A. Universal Robots UR7e, Robotiq Hand-E gripper, wrist-mounted Intel RealSense D405. Collected autonomously in one continuous run from 2026-10-10 12:42 to 2026-10-12 15:44 (paused in the dark hours of the second night), to cover the lighting changes of day and night: 3494 episodes, 2324160 frames at 30 fps.
Each episode: starts at the home pose with part B at a random position and rotation on the plate; ends with B released in fixture A and the arm at rest 100 mm above the seat.
Cameras:
observation.images.wrist(colour, 640x480, AV1) andobservation.images.wrist_depth(depth, 640x480, lossless HEVC, 12-bit grey).State and action (16 values each): 6 joint angles, TCP position, TCP orientation (6D), gripper position. Also recorded: joint velocity, torque and current, TCP force, raw force/torque wrench, gripper effort, capture time.
Order: the run was converted by 4 converters in stretches of about 200 episodes each, so the episodes are grouped by stretch and converter, not strictly by time.
meta/source_episodes.jsonlists the run's episode names in the order ofepisode_index; the name's number is the order in which they were recorded.Dropped camera frames: episodes with more than 2 dropped frames are left out, except d48_0304, d48_0377 and d48_0508, which were converted before that rule.
The wrist camera is mounted upside down: the top of the image is the side nearest the camera.
Homepage: [More Information Needed]
Paper: [More Information Needed]
License: [More Information Needed]
Dataset Structure
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
16
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow.pos",
"wrist_1.pos",
"wrist_2.pos",
"wrist_3.pos",
"tcp.x",
"tcp.y",
"tcp.z",
"tcp.rot6d_0",
"tcp.rot6d_1",
"tcp.rot6d_2",
"tcp.rot6d_3",
"tcp.rot6d_4",
"tcp.rot6d_5",
"gripper.pos"
]
},
"action": {
"dtype": "float32",
"shape": [
16
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow.pos",
"wrist_1.pos",
"wrist_2.pos",
"wrist_3.pos",
"tcp.x",
"tcp.y",
"tcp.z",
"tcp.rot6d_0",
"tcp.rot6d_1",
"tcp.rot6d_2",
"tcp.rot6d_3",
"tcp.rot6d_4",
"tcp.rot6d_5",
"gripper.pos"
]
},
"observation.joint_velocity": {
"dtype": "float32",
"shape": [
6
],
"names": [
"shoulder_pan.vel",
"shoulder_lift.vel",
"elbow.vel",
"wrist_1.vel",
"wrist_2.vel",
"wrist_3.vel"
]
},
"observation.tcp_force": {
"dtype": "float32",
"shape": [
6
],
"names": [
"fx",
"fy",
"fz",
"tx",
"ty",
"tz"
]
},
"observation.ft_raw_wrench": {
"dtype": "float32",
"shape": [
6
],
"names": [
"fx",
"fy",
"fz",
"tx",
"ty",
"tz"
]
},
"observation.joint_torque": {
"dtype": "float32",
"shape": [
6
],
"names": [
"shoulder_pan.torque",
"shoulder_lift.torque",
"elbow.torque",
"wrist_1.torque",
"wrist_2.torque",
"wrist_3.torque"
]
},
"observation.joint_current": {
"dtype": "float32",
"shape": [
6
],
"names": [
"shoulder_pan.current",
"shoulder_lift.current",
"elbow.current",
"wrist_1.current",
"wrist_2.current",
"wrist_3.current"
]
},
"observation.gripper_effort": {
"dtype": "float32",
"shape": [
4
],
"names": [
"motor_current_a",
"tool_supply_current_a",
"object_status",
"force_setting"
]
},
"observation.capture_time": {
"dtype": "float64",
"shape": [
1
],
"names": [
"unix_time_s"
]
},
"observation.images.wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"is_depth_map": false,
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {}
}
},
"observation.images.wrist_depth": {
"dtype": "video",
"shape": [
480,
640,
1
],
"names": [
"height",
"width",
"channels"
],
"info": {
"is_depth_map": true,
"depth_unit": "m",
"video.height": 480,
"video.width": 640,
"video.codec": "hevc",
"video.pix_fmt": "gray12le",
"video.fps": 30,
"video.channels": 1,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": null,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {
"x265-params": "lossless=1"
},
"video.depth_min": 0.0,
"video.depth_max": 1.5,
"video.shift": 3.5,
"video.use_log": false
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
},
"total_episodes": 3494,
"total_frames": 2324160,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"robot_type": "ur7e_robotiq_d405",
"splits": {
"train": "0:3494"
}
}
Citation
BibTeX:
[More Information Needed]
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