| --- |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - raiden |
| - yam |
| configs: |
| - config_name: default |
| data_files: data/*/*.parquet |
| --- |
| |
| <!-- generated by rd export_lerobot --> |
| # drop_mug |
|
|
| Bimanual manipulation demonstrations recorded with [Raiden](https://github.com/TRI-ML/raiden) and exported to the [LeRobot](https://github.com/huggingface/lerobot) v3.0 format. |
|
|
| ## Dataset |
|
|
| - **Codebase version:** v3.0 |
| - **Robot type:** yam |
| - **Episodes:** 5 |
| - **Frames:** 2849 |
| - **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 |
|
|
| ```python |
| from lerobot.datasets.lerobot_dataset import LeRobotDataset |
| |
| dataset = LeRobotDataset("YzyLmc/drop_mug") |
| print(dataset[0].keys()) |
| ``` |
|
|
