Add task_instruction.json files + dataset card

README.md

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+---
+license: apache-2.0
+task_categories:
+  - robotics
+tags:
+  - real-robot
+  - manipulation
+  - ur5e
+  - imitation-learning
+size_categories:
+  - 100K<n<1M
+---
+
+# Real Robot Manipulation Dataset
+
+7 tabletop manipulation tasks recorded on a **UR5e** with a **Robotiq 2F-140**
+gripper and two **Intel RealSense** cameras (one fixed base, one wrist-mounted).
+**100 episodes per task**, **700 episodes total**, recorded at **20 Hz**.
+
+## Tasks
+
+| Folder | Instruction |
+|---|---|
+| `put_blocks_in_plate` | Pick two blocks from the table and place them on the plate. |
+| `remove_blocks_from_plate` | Pick two blocks off the plate and place them on the table. |
+| `hide_blocks_with_bowl` | Pair the two blocks together and cover them with the bowl. |
+| `remove_blocks_under_bowl` | Uncover the hidden blocks and spread the three objects out. |
+| `hide_blocks_with_cup` | Cover each block with an upside-down cup. |
+| `put_blocks_on_cup` | Lift each cup off a block and stack the block on top of the cup. |
+| `put_blocks_down` | Take the blocks off the cups and place them on the table. |
+
+Each task folder includes a `task_instruction.json` with the full task spec
+(objects, pick/place strategies, gripper modes, workspace bounds).
+
+## Layout
+
+```
+<task>/
+    1.hdf5  ...  100.hdf5     # per-episode trajectories (images + state)
+    meta/
+        1/meta.json  ...  100/meta.json   # per-episode ground truth
+    task_instruction.json     # task spec
+```
+
+## HDF5 schema (per episode)
+
+```
+/timestamps                       (T,)      float64
+/observations/
+    images/
+        camera1                   (T,H,W,3) uint8   # base, 640x480 RGB
+        camera2                   (T,H,W,3) uint8   # wrist, 640x480 RGB
+    qpos                          (T,7)     float32 # 6 joints + gripper (norm)
+    state                         (T,14)    float32 # tcp_pos(3)+tcp_quat(4)+joints(6)+gripper(1)
+    tcp_pos, tcp_quat, joints, gripper_pos
+```
+
+## meta.json schema (per episode)
+
+For all tasks the meta contains the per-episode ground-truth object positions:
+
+```json
+{
+    "task": "<task name>",
+    "episode": <int>,
+    "start": {<objects>: <(x,y)>, ...},
+    "end":   {<objects>: <(x,y)>, ...},
+    "init_pose": [x, y, z]
+}
+```
+
+Task-specific keys are additionally recorded (e.g. `perm` and `cup_order` for
+the cup tasks, `sign` and `active`/`passive` for the bowl hide task,
+`block_order` for the bowl/cup remove tasks).
+
+## Robot setup
+
+- **Robot**: UR5e via RTDE
+- **Gripper**: Robotiq 2F-140 (auto-calibrated)
+- **TCP orientation**: pointing straight down (axis-angle `[π, 0, 0]`)
+- **Cameras**: 2× Intel RealSense, 640×480 @ 20 Hz
+- **Workspace**: trapezoid with `y ∈ [0.50, 0.80]` and `x` half-width
+  `0.10 → 0.18` (linearly with y)
+
+## Per-task episode counts
+
+| Task | Episodes | Frames (~) | Wall-clock (~) |
+|---|---|---|---|
+| put_blocks_in_plate | 100 | 45,576 | 38 min |
+| remove_blocks_from_plate | 100 | 45,929 | 38 min |
+| hide_blocks_with_bowl | 100 | 43,881 | 37 min |
+| remove_blocks_under_bowl | 100 | 66,090 | 55 min |
+| hide_blocks_with_cup | 100 | (~varies) | ~40 min |
+| put_blocks_on_cup | 100 | (~varies) | ~50 min |
+| put_blocks_down | 100 | (~varies) | ~30 min |
+
+## License
+
+Apache 2.0.

hide_blocks_with_bowl/task_instruction.json

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+{
+  "robot": "UR5e + Robotiq 2F-140 gripper",
+  "cameras": {
+    "camera1": "fixed base RealSense (table-facing)",
+    "camera2": "wrist-mounted RealSense"
+  },
+  "camera_resolution": [
+    640,
+    480
+  ],
+  "control_hz": 20,
+  "tcp_orientation_axis_angle": [
+    3.14159,
+    0.0,
+    0.0
+  ],
+  "workspace_trapezoid": {
+    "y_range": [
+      0.5,
+      0.8
+    ],
+    "x_halfwidth_at_y_min": 0.1,
+    "x_halfwidth_at_y_max": 0.18
+  },
+  "episodes": 100,
+  "task": "hide_blocks_with_bowl",
+  "instruction": "Pair the two blocks together and cover them with the bowl.",
+  "description": "Two blocks and one bowl (upside down, rim on table) start at random well-separated positions. The robot picks one of the two blocks (random choice each episode) and places it 5.5 cm next to the other block along the y axis (direction chosen so the placement stays in the trapezoid and clear of the bowl). Then picks the bowl and places it over the midpoint of the pair so the rim contacts the table around both blocks, hiding them.",
+  "objects": [
+    "block_a",
+    "block_b",
+    "bowl (R=5.5cm, upside down)"
+  ],
+  "gripper_modes": "block-pick narrows to 50% open; bowl-pick fully open"
+}

hide_blocks_with_cup/task_instruction.json

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+{
+  "robot": "UR5e + Robotiq 2F-140 gripper",
+  "cameras": {
+    "camera1": "fixed base RealSense (table-facing)",
+    "camera2": "wrist-mounted RealSense"
+  },
+  "camera_resolution": [
+    640,
+    480
+  ],
+  "control_hz": 20,
+  "tcp_orientation_axis_angle": [
+    3.14159,
+    0.0,
+    0.0
+  ],
+  "workspace_trapezoid": {
+    "y_range": [
+      0.5,
+      0.8
+    ],
+    "x_halfwidth_at_y_min": 0.1,
+    "x_halfwidth_at_y_max": 0.18
+  },
+  "episodes": 100,
+  "task": "hide_blocks_with_cup",
+  "instruction": "Cover each block with an upside-down cup.",
+  "description": "Two cups (upside down, rim on table) and two blocks start at random well-separated positions (>= 18 cm cup-cup, >= 15 cm cup-block, >= 18 cm block-block). The robot picks each cup in random order and places it on top of a block (random pairing per episode, encoded in meta as `perm`). Cup rim contacts the table around the block, enveloping it.",
+  "objects": [
+    "cup_0 (R=8cm, h=8.5cm)",
+    "cup_1",
+    "block_0",
+    "block_1"
+  ],
+  "gripper_modes": "block-pick narrows to 50% open; cup-pick fully open"
+}

put_blocks_down/task_instruction.json

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+{
+  "robot": "UR5e + Robotiq 2F-140 gripper",
+  "cameras": {
+    "camera1": "fixed base RealSense (table-facing)",
+    "camera2": "wrist-mounted RealSense"
+  },
+  "camera_resolution": [
+    640,
+    480
+  ],
+  "control_hz": 20,
+  "tcp_orientation_axis_angle": [
+    3.14159,
+    0.0,
+    0.0
+  ],
+  "workspace_trapezoid": {
+    "y_range": [
+      0.5,
+      0.8
+    ],
+    "x_halfwidth_at_y_min": 0.1,
+    "x_halfwidth_at_y_max": 0.18
+  },
+  "episodes": 100,
+  "task": "put_blocks_down",
+  "instruction": "Take the blocks off the cups and place them on the table.",
+  "description": "Start state: two stacks of block-on-cup (cups upside down, blocks on top). For each block in random order: pick it from on top of its cup (pick z is 0.215 m = pick_z_table + cup_height), place it at a new random position on the table. Cups stay where they are.",
+  "objects": [
+    "cup_0",
+    "cup_1",
+    "block_0",
+    "block_1"
+  ],
+  "pick_z_for_block_on_cup": 0.215
+}

put_blocks_in_plate/task_instruction.json

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+{
+  "robot": "UR5e + Robotiq 2F-140 gripper",
+  "cameras": {
+    "camera1": "fixed base RealSense (table-facing)",
+    "camera2": "wrist-mounted RealSense"
+  },
+  "camera_resolution": [
+    640,
+    480
+  ],
+  "control_hz": 20,
+  "tcp_orientation_axis_angle": [
+    3.14159,
+    0.0,
+    0.0
+  ],
+  "workspace_trapezoid": {
+    "y_range": [
+      0.5,
+      0.8
+    ],
+    "x_halfwidth_at_y_min": 0.1,
+    "x_halfwidth_at_y_max": 0.18
+  },
+  "episodes": 100,
+  "task": "put_blocks_in_plate",
+  "instruction": "Pick two blocks from the table and place them on the plate.",
+  "description": "Two blocks start at random positions on the table; a plate sits at a fixed pre-set position. The robot picks block A and places it on the plate at the front-of-plate position, then picks block B and places it at the back-of-plate position. Plate position is one of five preset locations (A, B, C, D, E) \u2014 20 episodes per location.",
+  "objects": [
+    "block_a",
+    "block_b",
+    "plate"
+  ],
+  "pick_strategy": "moveL down to pick_z=0.130, grip-pos=200 (close on block)",
+  "place_strategy": "moveUntilContact (rim/block bottom hits surface)"
+}

put_blocks_on_cup/task_instruction.json

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+{
+  "robot": "UR5e + Robotiq 2F-140 gripper",
+  "cameras": {
+    "camera1": "fixed base RealSense (table-facing)",
+    "camera2": "wrist-mounted RealSense"
+  },
+  "camera_resolution": [
+    640,
+    480
+  ],
+  "control_hz": 20,
+  "tcp_orientation_axis_angle": [
+    3.14159,
+    0.0,
+    0.0
+  ],
+  "workspace_trapezoid": {
+    "y_range": [
+      0.5,
+      0.8
+    ],
+    "x_halfwidth_at_y_min": 0.1,
+    "x_halfwidth_at_y_max": 0.18
+  },
+  "episodes": 100,
+  "task": "put_blocks_on_cup",
+  "instruction": "Lift each cup off a block and stack the block on top of the cup.",
+  "description": "Start state: two hidden stacks (cup over block, cup over block). For each pair (random order): lift the cup, place it at a new random table position, pick the now-exposed block, place it on top of the (upside-down) cup. End state: two stacks of block-on-cup.",
+  "objects": [
+    "cup_0",
+    "cup_1",
+    "block_0",
+    "block_1"
+  ]
+}

remove_blocks_from_plate/task_instruction.json

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+{
+  "robot": "UR5e + Robotiq 2F-140 gripper",
+  "cameras": {
+    "camera1": "fixed base RealSense (table-facing)",
+    "camera2": "wrist-mounted RealSense"
+  },
+  "camera_resolution": [
+    640,
+    480
+  ],
+  "control_hz": 20,
+  "tcp_orientation_axis_angle": [
+    3.14159,
+    0.0,
+    0.0
+  ],
+  "workspace_trapezoid": {
+    "y_range": [
+      0.5,
+      0.8
+    ],
+    "x_halfwidth_at_y_min": 0.1,
+    "x_halfwidth_at_y_max": 0.18
+  },
+  "episodes": 100,
+  "task": "remove_blocks_from_plate",
+  "instruction": "Pick two blocks off the plate and place them on the table.",
+  "description": "Two blocks start on a plate (front and back positions). The robot picks the front block off the plate and places it at a random position on the table, then picks the back block and places it at another random position. Same 5-position plate variation as put_blocks_in_plate.",
+  "objects": [
+    "block_a",
+    "block_b",
+    "plate"
+  ],
+  "pick_strategy": "moveL down to pick_z=0.130, grip-pos=200 (close on block)",
+  "place_strategy": "moveUntilContact"
+}

remove_blocks_under_bowl/task_instruction.json

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+{
+  "robot": "UR5e + Robotiq 2F-140 gripper",
+  "cameras": {
+    "camera1": "fixed base RealSense (table-facing)",
+    "camera2": "wrist-mounted RealSense"
+  },
+  "camera_resolution": [
+    640,
+    480
+  ],
+  "control_hz": 20,
+  "tcp_orientation_axis_angle": [
+    3.14159,
+    0.0,
+    0.0
+  ],
+  "workspace_trapezoid": {
+    "y_range": [
+      0.5,
+      0.8
+    ],
+    "x_halfwidth_at_y_min": 0.1,
+    "x_halfwidth_at_y_max": 0.18
+  },
+  "episodes": 100,
+  "task": "remove_blocks_under_bowl",
+  "instruction": "Uncover the hidden blocks and spread the three objects out.",
+  "description": "Starts in the hidden state: bowl on top of a paired set of two blocks. The robot picks the bowl off the pair and places it at a new random position on the table. Then picks each block in random order and places them at new random positions, well-separated from each other and the bowl.",
+  "objects": [
+    "block_a",
+    "block_b",
+    "bowl"
+  ]
+}