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lexu14
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mini-radio

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gripper_actual_position
float32
gripper_commanded_position
float32
gripper_image_depth_compressed
list
gripper_image_rgb_compressed
list
mount_image_depth_compressed
list
mount_image_rgb_compressed
list
robot_current_joint_angles
list
robot_current_joint_velocity
list
robot_current_pose
list
robot_desired_joint_angles
list
robot_desired_joint_velocity
list
robot_desired_pose
list
timestamps
float64
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0.500803
End of preview.

YAML Metadata Warning:empty or missing yaml metadata in repo card

Check out the documentation for more information.

Mini-Radio Data from https://learning-to-assist.github.io/

radio-completed

There are 100 full radio assembly episodes collected. Each episode is on average 5.5 minutes long and contains the following data:

  1. timestamps
  2. robot_current_pose
  3. robot_desired_pose
  4. robot_current_joint_angles
  5. robot_desired_joint_angles
  6. robot_current_joint_velocity
  7. robot_desired_joint_velocity
  8. gripper_image_rgb_compressed
  9. mount_image_rgb_compressed
  10. gripper_image_depth_compressed
  11. mount_image_depth_compressed

All episodes were collected with a single teleoperator using a SpaceMouse and a separate human collaborator. Image and depth images come from two Realsense D435i cameras and all data is collected at 20Hz. A UFactory X-Arm 6 robot arm was used in all demonstrations.

Building the Radio

The CAD files for the Mini-Radio can be found here: Onshape Link.
CAD files for tool fixures used are here: Onshape Link
The assembly guide can be found here: Assembly Guide

Additional parts for the radio were taken from a toy kit online: Kit link
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Total file size:
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