diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..3ffc422802bf8769c396dbe9aee57d96d2b60584 --- /dev/null +++ b/README.md @@ -0,0 +1,146 @@ +--- +pretty_name: UF850 Quest VR Press Buttons Raw +language: + - en +tags: + - robotics + - teleoperation + - xarm + - quest-vr + - realsense + - raw-data +size_categories: + - 10K First press the blue button, then press the red one, and finally press the orange one + +The canonical prompt is stored in `episode_meta.json` as `task`. It is +intentionally not duplicated in every step-level `data.json`. + +## Task layout + +![External-camera view of the initial task layout](layout_external.jpg) + +In this external-camera view, the buttons are arranged orange, red, and blue +from left to right. The commanded sequence is blue, then red, then orange +(right to left in this view). + +## Dataset summary + +| Item | Value | +| --- | ---: | +| Episodes | 50 (`episode_000`–`episode_049`) | +| Transition steps | 20,659 | +| JPEG images | 41,318 (20,659 per camera) | +| Nominal transition rate | 10 Hz | +| Nominal transition time | 34.43 minutes | +| Image size | 1920×1080 | + +## Cameras + +| File | Role | RealSense serial | Capture mode | +| --- | --- | --- | --- | +| `cam_0.jpg` | wrist | `845112070404` | 1920×1080 YUYV @ 30 FPS | +| `cam_1.jpg` | external | `215222078407` | 1920×1080 YUYV @ 30 FPS | + +## File layout + +To keep the Hub repository reliable and easy to download, each episode is +distributed as one uncompressed tar archive. The archive is only a container: +the JPEG and JSON file bytes inside are unchanged from the validated raw +capture. + +```text +README.md +layout_external.jpg +SHA256SUMS +episodes/ + episode_000.tar + episode_001.tar + ... +``` + +Extract an episode with, for example: + +```bash +tar -xf episodes/episode_000.tar +``` + +Each archive expands to the original capture layout: + +```text +episode_NNN/ + episode_meta.json + step_00000/ + cam_0.jpg + cam_1.jpg + data.json + step_00001/ + ... +``` + +Each step contains the synchronized observation and camera pair at time `t`, +plus the raw robot-state difference to the following sample: + +```text +action[t] = state[t + 1] - state[t] +``` + +Actions are not divided by `dt`. + +### `data.json` + +- `observations.ee_pos`: `[x, y, z, roll, pitch, yaw]` +- `observations.joint_pos`: six joint angles +- `observations.gripper_pos`: raw xArm gripper position +- `action.delta_ee_pos`: next-minus-current TCP delta +- `action.delta_joint_pos`: next-minus-current joint delta +- `action.delta_gripper`: next-minus-current gripper delta +- `meta`: schema version, step number, sampling time, real `dt`, camera + timestamps/frame numbers/skew, frame age, state-read duration, and wrapped + Euler-angle delta + +Units are millimetres for TCP XYZ, degrees for TCP Euler angles and joint +angles, and the raw xArm scale (nominally 0–850) for the gripper. Delta fields +use the corresponding source units. + +### `episode_meta.json` + +Episode metadata records the task prompt, start/end times, termination reason, +camera identities, collection configuration snapshot, step count, and error +statistics. + +## Validation and raw-data notes + +- All 50 published episodes were checked for contiguous numbering, required + files, full 1920×1080 JPEG decoding, finite JSON values, next-current action + alignment, camera synchronization, frame ordering, and episode metadata + consistency. +- One original capture was excluded before publication because it began at the + preceding orange-button endpoint and included a return/gripper-reset segment + before the intended task. The remaining original episodes were renumbered + contiguously; their images, step JSON, observations, and actions were not + modified. +- Published `episode_005` and `episode_013` have episode metadata reconstructed + from preserved step records from an earlier cleanup. Published `episode_034` + and `episode_040` were reconstructed during this publication cleanup using + preserved step timestamps, finalized-file times, the shared task, and the + common collection configuration. +- Static prefixes and tails are retained because this is a raw dataset. In + particular, `episode_013` contains an approximately 17.8-second static + segment after the useful motion. +- Raw Euler deltas retain the legacy direct-subtraction behavior, including + wrap-boundary values near ±360°. 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