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manipulation_realworld
Real-world manipulation data from a UR5e with a Robotiq 2F-140 gripper and three RealSense cameras (wall, wrist, body-forward).
| Folder | Contents |
|---|---|
calibration/ |
Three-camera calibration accepted 2026-10-20: T_base_camera1 (body-forward), T_ee_camera2 (wrist, relative to the tool flange), T_base_camera3 (wall), intrinsics, captures and validation |
put_cup/real_ur5e_20261020/ |
43 SpaceMouse teleop episodes of "put the {pink, yellow, blue} cup on the dish rack", as RoboPRO-style HDF5 and as LeRobot v2.1, with format, download and training notes in its README |
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