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WRM_grasp_cylinder_lero

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End of preview. Expand in Data Studio

WRM Grasp Cylinder (LeRobot v3.0)

Manipulation dataset for cylinder grasping, recorded on a RealMan arm with VR teleoperation.

  • Robot: RealMan arm (7 DoF joint space) + RealSense camera (480x640 @ 24 fps)
  • Sensing: joint state/action (7), 3-axis force and torque, tactile grid (9x4x4)
  • Episodes: 71, Frames: 29,110, FPS: 24, Codebase version: v3.0
  • Task: grasp cylinder (single task, train split 0:71)

Usage 

from lerobot.common.datasets.lerobot_dataset import LeRobotDataset

dataset = LeRobotDataset("IXDLI/WRM_grasp_cylinder_lero")

Layout 

data/chunk-*/file-*.parquet          # per-frame features
videos/observation.images.camera_0/chunk-*/file-*.mp4  # h264 camera stream
meta/info.json                       # dataset metadata
meta/stats.json                      # feature statistics
meta/tasks.parquet                   # task list
meta/episodes/chunk-*/file-*.parquet # per-episode metadata

Recorded with the AIRO-Doffy data collection pipeline.
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Number of rows:
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Total file size:
161 MB