Datasets:
This dataset was created using LeRobot.
Dataset Description
50 bimanual demonstrations of unscrewing an M5 nut from a bolt held by the other hand, recorded by Newlithic Robotics with sensorised data-collection gloves (no robot in the loop).
Each frame (30 fps) has, per hand:
- end-effector pose: position
x, y, z(metres) and rotation as the first two columns of the rotation matrix (r1,r2, 6D representation) - gripper opening
gap - a wrist camera view (
observation.images.left_wrist,observation.images.right_wrist)
Poses are expressed in the left dock frame: origin at the docked left grip on the table
plane, x along its heading, z up. action is the state one frame later. Because the data is
end-effector space rather than joint space, it is arm-agnostic: apply your own arm's IK at
inference. Per-episode details are in meta/newlithic_ee.json.
- Homepage: [More Information Needed]
- Paper: [More Information Needed]
- License: apache-2.0
Dataset Structure
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
20
],
"names": [
"left_x",
"left_y",
"left_z",
"left_r1x",
"left_r1y",
"left_r1z",
"left_r2x",
"left_r2y",
"left_r2z",
"left_gap",
"right_x",
"right_y",
"right_z",
"right_r1x",
"right_r1y",
"right_r1z",
"right_r2x",
"right_r2y",
"right_r2z",
"right_gap"
]
},
"action": {
"dtype": "float32",
"shape": [
20
],
"names": [
"left_x",
"left_y",
"left_z",
"left_r1x",
"left_r1y",
"left_r1z",
"left_r2x",
"left_r2y",
"left_r2z",
"left_gap",
"right_x",
"right_y",
"right_z",
"right_r1x",
"right_r1y",
"right_r1z",
"right_r2x",
"right_r2y",
"right_r2z",
"right_gap"
]
},
"observation.phase": {
"dtype": "float32",
"shape": [
2
],
"names": [
"left_phase",
"right_phase"
]
},
"observation.images.left_wrist": {
"dtype": "video",
"shape": [
880,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 880,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.right_wrist": {
"dtype": "video",
"shape": [
880,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 880,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
},
"total_episodes": 50,
"total_frames": 32567,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"robot_type": "newlithic_glove_bimanual_ee",
"splits": {
"train": "0:50"
}
}
Citation
BibTeX:
[More Information Needed]
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