pepijn223/rebot_diverse_picking_100_annotated_ee

This dataset was created using LeRobot.

Dataset Description

End-effector version of pepijn223/rebot_diverse_picking_100_annotated (revision 93c97807c46535745d0587d4296416bf2d4aa80d): 100 bimanual reBot B601-DM episodes of picking objects into a bin, with the same videos, tasks and language annotations.

action and observation.state hold, per arm, the pose of the URDF end_link (tool frame, 15.5 cm beyond the wrist) instead of the six joint angles:

Channels	Meaning
left_x, left_y, left_z	Left tool position in the left arm's base_link frame (meters)
left_qx, left_qy, left_qz, left_qw	Left tool orientation, unit quaternion (x, y, z, w)
left_gripper.pos	Left gripper, unchanged (degrees)
right_*	Same for the right arm, in the right arm's base_link frame

• Poses come from forward kinematics of the reBot B601-DM URDF (Seeed-Projects/reBot-DevArm, bundled as meta/ReBot_Arm_DM.urdf). LeRobot's DM joint degrees are used directly as URDF joint angles.
• Each arm is expressed in its own base frame; the transform between the two arm mounts is not included.
• Quaternions are sign-continuous within each episode and start with qw >= 0.
• action is the pose the commanded joints would reach. Under the arms' impedance control the measured pose (observation.state) can differ from it, for example by gravity sag.
• Dataset and per-episode statistics are recomputed for these features; everything else is identical to the source. Converted with examples/zero_wam/convert_joints_to_ee.py.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "fps": 30,
    "features": {
        "action": {
            "dtype": "float32",
            "names": [
                "left_x",
                "left_y",
                "left_z",
                "left_qx",
                "left_qy",
                "left_qz",
                "left_qw",
                "left_gripper.pos",
                "right_x",
                "right_y",
                "right_z",
                "right_qx",
                "right_qy",
                "right_qz",
                "right_qw",
                "right_gripper.pos"
            ],
            "shape": [
                16
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "left_x",
                "left_y",
                "left_z",
                "left_qx",
                "left_qy",
                "left_qz",
                "left_qw",
                "left_gripper.pos",
                "right_x",
                "right_y",
                "right_z",
                "right_qx",
                "right_qy",
                "right_qz",
                "right_qw",
                "right_gripper.pos"
            ],
            "shape": [
                16
            ]
        },
        "observation.images.left_wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "is_depth_map": false,
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": null,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {}
            }
        },
        "observation.images.right_wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "is_depth_map": false,
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": null,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {}
            }
        },
        "observation.images.base": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "is_depth_map": false,
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": null,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {}
            }
        },
        "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
        },
        "language_persistent": {
            "dtype": "language",
            "shape": [
                1
            ],
            "names": null
        },
        "language_events": {
            "dtype": "language",
            "shape": [
                1
            ],
            "names": null
        }
    },
    "total_episodes": 100,
    "total_frames": 131716,
    "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": "bi_rebot_b601_follower",
    "splits": {
        "train": "0:100"
    },
    "tools": [
        {
            "type": "function",
            "function": {
                "name": "say",
                "description": "Speak a short utterance to the user via the TTS executor.",
                "parameters": {
                    "type": "object",
                    "properties": {
                        "text": {
                            "type": "string",
                            "description": "The verbatim text to speak."
                        }
                    },
                    "required": [
                        "text"
                    ]
                }
            }
        }
    ]
}

Citation

BibTeX:

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