ur5e-beaker-3cam-adversarial1009

UR5e real-robot teleoperation dataset (LeRobot v2.1) for picking a beaker and placing it into a tray. Collected 2026-10-09 as an additional adversarial / hard-case test batch (意地悪試験用) — harder placements/clutter intended to stress-test beaker grasping.

• Robot: UR5e + Robotiq 2F-85 gripper (real)
• Task: Pick the beaker and put it into the tray.
• Episodes: 12 (all kept — gr00t-verify-dataset found no anomalies)
• Frames: 8,344 @ 30 fps
• State / Action: 7-dim each = 6 arm joints (deg) + 1 gripper (0.0 open → 1.0 close)
• Cameras (640×480, video, real):
  • observation.images.front — front RealSense D455 (USB3)
  • observation.images.side — side Sonix USB webcam (1.4× digital zoom)
  • observation.images.top — top RealSense D455 (wrist-area view)
• Sources (real robot, not sim): arm = UR5e /tcp-driven /joint_states (deg); gripper = real Robotiq state (normalized). USE_REAL_CAMERA=True — all frames verified real.

Modality

GR00T modality.json included: single_arm = state/action[0:6], gripper = [6:7], video keys front / side / top, human.task_description from task_index. meta/stats.json + relative_stats.json generated.

Notes

• All camera streams verified real (front cam re-calibrated 2026-10-09, reproj mean 0.7 px).
• gr00t-verify-dataset: tracking error max ~3°, parquet↔video frame counts match, no 飛び/追従悪/停止.
• Gripper closes partially on the wide beaker (action→0.88, actual→0.42) — physically expected.
• Intended as an additional hard-case test set for the beaker task; sibling to indojin/ur5e-beaker-3cam-newroom0928 and indojin/ur5e-beaker-3cam-add1005.