benudavis/

cluttered_grasp

Real-robot teleop demonstrations of cluttered grasping. Episodes are gated on gripper_tcp height in base_link (record while low, pause while high), time-synced to the RealSense RGB master @ 30 Hz, then converted to LeRobot format.

Robot UR10 + Robotiq 2F-140 (ur10_robotiq_2f140)

FPS 30 (RGB master timeline)

Episodes / frames See meta/info.json (total_episodes, total_frames)

Codebase LeRobot dataset v3.0… See the full description on the dataset page: https://huggingface.co/datasets/benudavis/cluttered_grasp.