5 episodes · 30 fps · 6 cameras · 640×480 av1
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About
The episodes in this dataset are polishing episodes that start with one robotic arm picking up the metal cylinders on the left and then proceeding to swipe them across a sanding paper then the other robotic arm proceeds with placing them onto the black tray to the right.
Dataset summary
| Field | Value |
|---|---|
| Robot | YAM ultra 2(6-DoF) |
| Gripper | YAM Linear Grippers |
| Wrist Cameras | Intel Realsense D405 |
| Overhead Camera | Intel Realsense 435 |
| Episodes | 5 |
| Frames | 8,014 |
| FPS | 30 |
| Tasks / language instructions | `pick up the the metal cylinders on the left and then swipe them across a sanding paper then place them onto the black tray to the right.' |
Cameras (RGB + depth)
Present when the corresponding feed was recorded. Depth keys use LeRobot native *_depth video features.
| Feature | Modality |
|---|---|
observation.images.workspace_front |
Top Camera, RGB video |
observation.images.workspace_side |
Right Wrist Camera, RGB video |
observation.images.wrist |
Left Wrist Camera, RGB video |
observation.images.workspace_front_depth |
Top Camera, Depth video |
observation.images.workspace_side_depth |
Right Wrist Camera, Depth video |
observation.images.wrist_depth |
Left Wrist Camera, Depth video |
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