Upload README.md

README.md

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+# RoboChallenge Table30 v2 Dataset
+
+## Tasks and Embodiments
+
+The dataset includes 30 diverse manipulation tasks (Table30 v2) across 4 embodiments:
+
+### Available Tasks
+
+- `put_the_books_back` - Place the books back onto the bookshelf.
+- `tie_a_knot` - Tie a knot with the string on the table.
+- `stamp_positioning` - Stamp the signature area on the paper.
+- `tidy_up_the_makeup_table` - Sort and organize the cosmetics on the table.
+- `paint_jam` - Spread the bread with jam.
+- `pack_the_items` - Box up the tablet and its accessories.
+- `wrap_with_a_soft_cloth` - Bundle the objects together using the cloth on the table.
+- `put_in_pen_container` - Put the pens on the desk into the pen holder.
+- `put_the_pencil_case_into_the_schoolbag` - Put the pencil case into the backpack.
+- `put_the_shoes_back` - Pair the two pairs of shoes on the desk and place them on the shoe rack
+- `untie_the_shoelaces` - Remove the laces from the shoes, then place them on the table.
+- `scoop_with_a_small_spoon` - Scoop beans and place them into the empty bowl.
+- `wipe_the_blackboard` - Wipe the balckboard clean.
+- `lint_roller_remove_dirt` - Use a lint remover to clean the debris on the clothe.
+- `turn_on_the_light_switch` - Turn on the lamp.
+- `hold_the_tray_with_both_hands` - Place the ball on the desk onto the small tray, and then move it to the large tray.
+- `fold_the_clothes` - Fold the T-shirts and stack them neatly in the upper-left corner of the table.
+- `pack_the_toothbrush_holder` - Put the toothbrush and toothpaste into the toiletries case in sequence, close the case, and then place it into the basket.
+- `place_objects_into_desk_drawer` - Open the drawer, put the bottle opener inside, and close the drawer.
+- `sweep_the_trash` - Sweep the trash on the table into the dustpan.
+- `arrange_flowers` - Put the 4 flowers into the vase.
+- `press_the_button` - Press the buttons in the following sequence: pink, blue, green, and then yellow.
+- `pick_out_the_green_blocks` - Find all the green blocks and put them into the basket.
+- `hang_the_cup` - Hang the cup on the rack.
+- `water_the_flowers` - Water the potted plants.
+- `wipe_the_table` - Wipe the stains off the desk with a rag.
+- `arrange_fruits` - Arrange the fruit in the basket.
+- `shred_paper` - Put the paper into the shredder.
+- `item_classification` - Place the stationery in the yellow box and the electronics in the blue box.
+- `stack_bowls` - Put the blue bowl into the beige bowl, and put the green bowl into the blue bowl.
+
+### Embodiments
+
+- **ARX5** - Single-arm with triple camera setup (wrist + global + right-side views)
+- **UR5** - Single-arm with dual camera setup (wrist + global views)
+- **ALOHA** - Dual-arm with triple wrist camera setup (left wrist + right wrist + global views)
+- **DOS-W1** - Dual-arm with triple wrist camera setup (left wrist + right wrist + global views)
+
+## Dataset Structure
+
+### Hierarchy
+
+The dataset is organized by tasks, with each task containing multiple demonstration episodes:
+
+```
+.
+├── <task_name>/                    # e.g., arrange_the_flowers, fold_t_shirt
+│   ├── task_desc.json              # Task description
+│   ├── meta/                       # Task-level metadata
+│   │   ├── task_info.json         
+│   └── data/                       # Episode data
+│       ├── episode_000000/         # Individual episode
+│       │   ├── meta/
+│       │   │   └── episode_meta.json    # Episode metadata
+│       │   ├── states/
+│       │   │   # for single-arm (ARX5, UR5)
+│       │   │   ├── states.jsonl         # Single-arm robot states
+│       │   │   # for dual-arm (ALOHA, DOS-W1)
+│       │   │   ├── left_states.jsonl    # Left arm states
+│       │   │   └── right_states.jsonl   # Right arm states
+│       │   └── videos/
+│       │       # Video configurations varies by robot model:
+│       │       # ARX5
+│       │       ├── cam_arm_rgb.mp4       # Wrist view 
+│       │       ├── cam_global_rgb.mp4    # Global view 
+│       │       └── cam_side_rgb.mp4      # Side view
+│       │       # UR5
+│       │       ├── cam_global_rgb.mp4    # Global view 
+│       │       └── cam_arm_rgb.mp4       # Wrist view
+│       │       # ALOHA
+│       │       ├── cam_high_rgb.mp4            # Global view 
+│       │       ├── cam_left_wrist_rgb.mp4      # Left wrist view
+│       │       └── cam_right_wrist_rgb.mp4     # Right wrist view
+│       │       # DOS-W1
+│       │       ├── cam_high_rgb.mp4            # Global view 
+│       │       ├── cam_left_wrist_rgb.mp4      # Left wrist view
+│       │       └── cam_right_wrist_rgb.mp4     # Right wrist view
+│       ├── episode_000001/
+│       └── ...
+├── convert_to_lerobot.py           # Conversion script
+└── README.md
+```
+
+### Metadata Schema
+
+`task_info.json`
+
+```json
+{
+  "task_desc": {
+    "task_name": "arrange_flowers",                 // Task identifier
+    "prompt": "Put the 4 flowers into the vase.",
+    "description": "...",
+    "scoring": "...",                               // Scoring criteria
+    "task_tag": [                                   // Task characteristics
+      "repeated",
+      "single-arm",
+      "ARX5",
+      "precise3d"
+    ]
+  },
+  "video_info": {
+    "fps": 30,                                      // Video frame rate
+    "ext": "mp4",                                   // Video format
+    "encoding": {
+      "vcodec": "libx264",                          // Video codec
+      "pix_fmt": "yuv420p"                          // Pixel format
+    }
+  }
+}
+```
+
+`episode_meta.json`
+
+```json
+{
+  "start_time": 1750405586.3430033,                 // Unix timestamp (start)
+  "end_time": 1750405642.5247612,                   // Unix timestamp (end)
+  "frames": 1672,                                   // Total video frames
+  "robot_id": "rc_arx5_5",                          // Robot identifier
+  "features": {
+    "cam_global": {                                 // Camera name info
+      "intrinsics": [],                             // Intrinsics
+      "extrinsics": {                               // Extrinsics
+        "arms": {
+          "arm": []                                 // Extrinsic relative to arm
+        }
+      }
+    }
+  }
+}
+```
+
+### Robot States Schema
+
+Each episode contains states data stored in JSONL format. Depending on the embodiment, the structure differs slightly:
+
+- **Single-arm robots (ARX5, UR5)** → `states.jsonl`
+- **Dual-arm robots (ALOHA, DOS-W1)** → `left_states.jsonl` and `right_states.jsonl`
+
+Each file records the robot’s proprioceptive signals per frame, including joint angles,
+end-effector poses, gripper states, and timestamps. The exact field definitions and coordinate conventions vary by
+platform,
+as summarized below.
+
+#### ARX5
+
+|    Data Name     |     Data Key     | Shape |                                                                            Semantics                                                                            |
+|:----------------:|:----------------:|:-----:|:---------------------------------------------------------------------------------------------------------------------------------------------------------------:|
+|  Joint control   | joint_positions  | (6,)  |                                                   Joint angle (in radians) from the base to the end effector.                                                   |
+|  Joint velocity  | joint_velocities | (6,)  |                                                                        Speed of 6 joint.                                                                        |
+|   Joint effort   |     efforts      | (7,)  |                                      Effort of 6 joints and gripper. (Provided by official API, precision not guaranteed.                                       |
+|   Pose control   |   ee_positions   | (7,)  | End effector pose (tx, ty, tz, rx, ry, rz, rw), where (tx, ty, tz) is relative position from the arm base coordinate , (rx, ry, rz, rw) is quaternion rotation. |
+| Gripper control  |  gripper_width   | (1,)  |                                                           Actual gripper width measurement in meter.                                                            | 
+| Gripper velocity | gripper_velocity | (1,)  |                                                                        Speed of gripper.                                                                        |
+|    Time stamp    |    timestamp     | (1,)  |                                                    Floating point timestamp (in milliseconds) of each frame.                                                    |
+
+#### UR5
+
+|    Data Name    |    Data Key     | Shape |                                                                            Semantics                                                                            |
+|:---------------:|:---------------:|:-----:|:---------------------------------------------------------------------------------------------------------------------------------------------------------------:|
+|  Joint control  | joint_positions | (6,)  |                                                   Joint angle (in radians) from the base to the end effector.                                                   |
+|  Pose control   |  ee_positions   | (7,)  | End effector pose (tx, ty, tz, rx, ry, rz, rw), where (tx, ty, tz) is relative position from the arm base coordinate , (rx, ry, rz, rw) is quaternion rotation. |
+| Gripper control |  gripper_width  | (1,)  |                                                           Actual gripper width measurement in meter.                                                            | 
+|   Time stamp    |    timestamp    | (1,)  |                                                    Floating point timestamp (in milliseconds) of each frame.                                                    | 
+
+#### DOS-W1
+
+|    Data Name    |    Data Key     | Shape |                                                                            Semantics                                                                            |
+|:---------------:|:---------------:|:-----:|:---------------------------------------------------------------------------------------------------------------------------------------------------------------:|
+|  Joint control  | joint_positions | (6,)  |                                                   Joint angle (in radians) from the base to the end effector.                                                   |
+|  Pose control   |  ee_positions   | (7,)  | End effector pose (tx, ty, tz, rx, ry, rz, rw), where (tx, ty, tz) is relative position from the arm base coordinate , (rx, ry, rz, rw) is quaternion rotation. |
+| Gripper control |  gripper_width  | (1,)  |                                                           Actual gripper width measurement in meter.                                                            | 
+|   Time stamp    |    timestamp    | (1,)  |                                                    Floating point timestamp (in milliseconds) of each frame.                                                    | 
+
+#### ALOHA
+
+|      Data Name       |     Data Key     | Shape |                                                                            Semantics                                                                            |
+|:--------------------:|:----------------:|:-----:|:---------------------------------------------------------------------------------------------------------------------------------------------------------------:|
+|    Joint control     | joint_positions  | (6,)  |                                               Puppet joint angle (in radians) from the base to the end effector.                                                |
+|    Joint velocity    | joint_velocities | (7,)  |                                                                        Speed of 6 joint.                                                                        |
+|   Gripper control    |  gripper_width   | (1,)  |                                                           Actual gripper width measurement in meter.                                                            | 
+|     Pose control     |   ee_positions   | (7,)  | End effector pose (tx, ty, tz, rx, ry, rz, rw), where (tx, ty, tz) is relative position from the arm base coordinate , (rx, ry, rz, rw) is quaternion rotation. |
+|     Joint effort     |     efforts      | (7,)  |                                      Effort of 6 joints and gripper.  (Provided by official API, precision not guaranteed.                                      |
+| Master Joint effort  |  master_efforts  | (7,)  |                                  Effort of 6 master joints and gripper.  (Provided by official API, precision not guaranteed.                                   |
+| Master joint control |   master_qpos    | (6,)  |                                               Master joint angle (in radians) from the base to the end effector.                                                |
+|      Time stamp      |    timestamp     | (1,)  |                                                    Floating point timestamp (in mileseconds) of each frame.                                                     |
+
+## Convert to LeRobot
+
+While you can implement a custom Dataset class to read RoboChallenge data directly, **we strongly recommend converting
+to LeRobot format** to take advantage of [LeRobot](https://github.com/huggingface/lerobot)'s comprehensive data
+processing and loading utilities.
+
+The example script **`convert_to_lerobot.py`** converts **ARX5** data to the LeRobot dataset as a example. For other
+robot embodiments (UR5, ALOHA, DOS-W1), you can adapt the script accordingly.
+
+### Prerequisites
+
+- Python 3.9+ with the following packages:
+    - `lerobot==0.1.0`
+    - `opencv-python`
+    - `numpy`
+- Configure `$LEROBOT_HOME`  (defaults to `~/.lerobot` if unset).
+
+```bash
+pip install lerobot==0.1.0 opencv-python numpy
+export LEROBOT_HOME="/path/to/lerobot_home"
+```
+
+### Usage
+
+Run the converter from the repository root (or provide an absolute path):
+
+```bash
+python convert_to_lerobot.py \
+  --repo-name example_repo \
+  --raw-dataset /path/to/example_dataset \
+  --frame-interval 1 
+```
+
+### Output
+
+- Frames and metadata are saved to `$LEROBOT_HOME/<repo-name>`.
+- At the end, the script calls `dataset.consolidate(run_compute_stats=False)`. If you require aggregated statistics, run
+  it with `run_compute_stats=True` or execute a separate stats job.