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Datasets:
AAyano
/
uf850-vr-teleop-press-buttons-raw

Languages:
English
Size:
10K<n<100K
Tags:
robotics
teleoperation
xarm
quest-vr
realsense
raw-data
Dataset card Files
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Publish validated raw episodes

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Files changed (50) hide show
  1. README.md +146 -0
  2. SHA256SUMS +50 -0
  3. episodes/episode_000.tar +3 -0
  4. episodes/episode_001.tar +3 -0
  5. episodes/episode_002.tar +3 -0
  6. episodes/episode_003.tar +3 -0
  7. episodes/episode_004.tar +3 -0
  8. episodes/episode_005.tar +3 -0
  9. episodes/episode_006.tar +3 -0
  10. episodes/episode_007.tar +3 -0
  11. episodes/episode_008.tar +3 -0
  12. episodes/episode_009.tar +3 -0
  13. episodes/episode_010.tar +3 -0
  14. episodes/episode_011.tar +3 -0
  15. episodes/episode_012.tar +3 -0
  16. episodes/episode_013.tar +3 -0
  17. episodes/episode_014.tar +3 -0
  18. episodes/episode_015.tar +3 -0
  19. episodes/episode_016.tar +3 -0
  20. episodes/episode_017.tar +3 -0
  21. episodes/episode_018.tar +3 -0
  22. episodes/episode_019.tar +3 -0
  23. episodes/episode_020.tar +3 -0
  24. episodes/episode_021.tar +3 -0
  25. episodes/episode_022.tar +3 -0
  26. episodes/episode_023.tar +3 -0
  27. episodes/episode_024.tar +3 -0
  28. episodes/episode_025.tar +3 -0
  29. episodes/episode_026.tar +3 -0
  30. episodes/episode_027.tar +3 -0
  31. episodes/episode_028.tar +3 -0
  32. episodes/episode_029.tar +3 -0
  33. episodes/episode_030.tar +3 -0
  34. episodes/episode_031.tar +3 -0
  35. episodes/episode_032.tar +3 -0
  36. episodes/episode_033.tar +3 -0
  37. episodes/episode_034.tar +3 -0
  38. episodes/episode_035.tar +3 -0
  39. episodes/episode_036.tar +3 -0
  40. episodes/episode_037.tar +3 -0
  41. episodes/episode_038.tar +3 -0
  42. episodes/episode_039.tar +3 -0
  43. episodes/episode_040.tar +3 -0
  44. episodes/episode_041.tar +3 -0
  45. episodes/episode_042.tar +3 -0
  46. episodes/episode_043.tar +3 -0
  47. episodes/episode_044.tar +3 -0
  48. episodes/episode_045.tar +3 -0
  49. episodes/episode_046.tar +3 -0
  50. episodes/episode_047.tar +3 -0
README.md ADDED
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1
+ ---
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+ pretty_name: UF850 Quest VR Press Buttons Raw
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+ language:
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+ - en
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+ tags:
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+ - robotics
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+ - teleoperation
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+ - xarm
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+ - quest-vr
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+ - realsense
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+ - raw-data
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+ size_categories:
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+ - 10K<n<100K
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+ ---
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+
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+ # UF850 Quest VR Press Buttons — Raw Data
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+
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+ Raw, untrimmed UF850 teleoperation trajectories collected with a Quest VR
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+ controller and two Intel RealSense cameras. No retained trajectory was trimmed,
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+ resampled, or action-normalized. Camera frames were captured as YUYV and stored
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+ as JPEG at collection time.
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+
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+ ## Task and prompt
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+
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+ Every episode uses the same English task instruction:
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+
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+ > First press the blue button, then press the red one, and finally press the orange one
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+
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+ The canonical prompt is stored in `episode_meta.json` as `task`. It is
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+ intentionally not duplicated in every step-level `data.json`.
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+
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+ ## Task layout
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+
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+ ![External-camera view of the initial task layout](layout_external.jpg)
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+
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+ In this external-camera view, the buttons are arranged orange, red, and blue
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+ from left to right. The commanded sequence is blue, then red, then orange
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+ (right to left in this view).
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+
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+ ## Dataset summary
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+
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+ | Item | Value |
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+ | --- | ---: |
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+ | Episodes | 50 (`episode_000`–`episode_049`) |
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+ | Transition steps | 20,659 |
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+ | JPEG images | 41,318 (20,659 per camera) |
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+ | Nominal transition rate | 10 Hz |
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+ | Nominal transition time | 34.43 minutes |
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+ | Image size | 1920×1080 |
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+
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+ ## Cameras
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+
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+ | File | Role | RealSense serial | Capture mode |
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+ | --- | --- | --- | --- |
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+ | `cam_0.jpg` | wrist | `845112070404` | 1920×1080 YUYV @ 30 FPS |
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+ | `cam_1.jpg` | external | `215222078407` | 1920×1080 YUYV @ 30 FPS |
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+
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+ ## File layout
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+
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+ To keep the Hub repository reliable and easy to download, each episode is
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+ distributed as one uncompressed tar archive. The archive is only a container:
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+ the JPEG and JSON file bytes inside are unchanged from the validated raw
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+ capture.
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+
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+ ```text
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+ README.md
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+ layout_external.jpg
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+ SHA256SUMS
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+ episodes/
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+ episode_000.tar
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+ episode_001.tar
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+ ...
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+ ```
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+
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+ Extract an episode with, for example:
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+
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+ ```bash
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+ tar -xf episodes/episode_000.tar
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+ ```
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+
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+ Each archive expands to the original capture layout:
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+
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+ ```text
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+ episode_NNN/
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+ episode_meta.json
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+ step_00000/
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+ cam_0.jpg
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+ cam_1.jpg
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+ data.json
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+ step_00001/
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+ ...
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+ ```
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+
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+ Each step contains the synchronized observation and camera pair at time `t`,
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+ plus the raw robot-state difference to the following sample:
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+
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+ ```text
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+ action[t] = state[t + 1] - state[t]
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+ ```
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+
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+ Actions are not divided by `dt`.
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+
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+ ### `data.json`
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+
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+ - `observations.ee_pos`: `[x, y, z, roll, pitch, yaw]`
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+ - `observations.joint_pos`: six joint angles
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+ - `observations.gripper_pos`: raw xArm gripper position
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+ - `action.delta_ee_pos`: next-minus-current TCP delta
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+ - `action.delta_joint_pos`: next-minus-current joint delta
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+ - `action.delta_gripper`: next-minus-current gripper delta
111
+ - `meta`: schema version, step number, sampling time, real `dt`, camera
112
+ timestamps/frame numbers/skew, frame age, state-read duration, and wrapped
113
+ Euler-angle delta
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+
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+ Units are millimetres for TCP XYZ, degrees for TCP Euler angles and joint
116
+ angles, and the raw xArm scale (nominally 0–850) for the gripper. Delta fields
117
+ use the corresponding source units.
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+
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+ ### `episode_meta.json`
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+
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+ Episode metadata records the task prompt, start/end times, termination reason,
122
+ camera identities, collection configuration snapshot, step count, and error
123
+ statistics.
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+
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+ ## Validation and raw-data notes
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+
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+ - All 50 published episodes were checked for contiguous numbering, required
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+ files, full 1920×1080 JPEG decoding, finite JSON values, next-current action
129
+ alignment, camera synchronization, frame ordering, and episode metadata
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+ consistency.
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+ - One original capture was excluded before publication because it began at the
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+ preceding orange-button endpoint and included a return/gripper-reset segment
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+ before the intended task. The remaining original episodes were renumbered
134
+ contiguously; their images, step JSON, observations, and actions were not
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+ modified.
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+ - Published `episode_005` and `episode_013` have episode metadata reconstructed
137
+ from preserved step records from an earlier cleanup. Published `episode_034`
138
+ and `episode_040` were reconstructed during this publication cleanup using
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+ preserved step timestamps, finalized-file times, the shared task, and the
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+ common collection configuration.
141
+ - Static prefixes and tails are retained because this is a raw dataset. In
142
+ particular, `episode_013` contains an approximately 17.8-second static
143
+ segment after the useful motion.
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+ - Raw Euler deltas retain the legacy direct-subtraction behavior, including
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+ wrap-boundary values near ±360°. A wrapped rotation delta is also available
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+ in each step's metadata.
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