YzyLmc/pi05_pick_block_red_yam
Robotics • 4B • Updated
Datasets:
Search is not available for this dataset
observation.state list | action list | observation.state.ee_pose list | action.ee_pose list | observation.extrinsics.left_wrist_camera list | observation.intrinsics.left_wrist_camera list | observation.extrinsics.scene_camera list | observation.intrinsics.scene_camera list | observation.velocity list | observation.effort list | observation.leader.joint_position list | observation.leader.joint_velocity list | observation.leader.joint_effort list | observation.timestamp_ns int64 1,787,777,682B 1,787,781,643B | timestamp float32 0 18.4 | frame_index int64 0 553 | episode_index int64 0 29 | index int64 0 12.8k | task_index int64 0 0 |
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End of preview. Expand in Data Studio
pick_block_red
Bimanual manipulation demonstrations recorded with Raiden and exported to the LeRobot v3.0 format.
Dataset
- Codebase version: v3.0
- Robot type: yam
- Episodes: 30
- Frames: 12833
- Tasks: 1
- FPS: 30
Features
| Key | dtype | Shape |
|---|---|---|
action |
float32 | (7,) |
action.ee_pose |
float32 | (13,) |
episode_index |
int64 | (1,) |
frame_index |
int64 | (1,) |
index |
int64 | (1,) |
observation.effort |
float32 | (7,) |
observation.extrinsics.left_wrist_camera |
float32 | (16,) |
observation.extrinsics.scene_camera |
float32 | (16,) |
observation.images.depth_scene_camera |
video | (480, 640, 1) |
observation.images.left_wrist_camera |
video | (480, 640, 3) |
observation.images.scene_camera |
video | (480, 640, 3) |
observation.intrinsics.left_wrist_camera |
float32 | (9,) |
observation.intrinsics.scene_camera |
float32 | (9,) |
observation.leader.joint_effort |
float32 | (6,) |
observation.leader.joint_position |
float32 | (6,) |
observation.leader.joint_velocity |
float32 | (6,) |
observation.state |
float32 | (7,) |
observation.state.ee_pose |
float32 | (13,) |
observation.timestamp_ns |
int64 | (1,) |
observation.velocity |
float32 | (7,) |
task_index |
int64 | (1,) |
timestamp |
float32 | (1,) |
Camera intrinsics are stored per frame as observation.intrinsics.<camera>
(flattened 3x3), and wrist-camera extrinsics as observation.extrinsics.<camera>.
Depth is 12-bit logarithmically quantized in the video stream; a lossless
first frame of each episode (RGB PNG + uint16 depth PNG + calibration JSON)
is archived under meta/keyframes/ for pose estimation.
Usage
from lerobot.datasets.lerobot_dataset import LeRobotDataset
dataset = LeRobotDataset("YzyLmc/pick_block_red")
print(dataset[0].keys())
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