7 episodes · 30 fps · 1 camera · 640×480 h264
yumi: draw a circle with a marker (handheld UMI, raw session)
Seven handheld demonstrations of "Draw a circle with the marker", recorded on 2026-10-16 with the yumi handheld gripper (RealSense D405 wrist camera + RealSense T265 tracker, built from YAM gripper parts). Raw LeRobot v3 session: 3,692 frames at 30 fps.
observation.images.d405: wrist RGB, 640x480 (video)observation.state,observation.quality,observation.sensor_time: raw handheld pose/quality streamsextras/episode_*/: full-rate T265 pose and IMU (samples.jsonl), lossless D405 depth, capture metadatasession.json: capture configuration (serials, tracker-to-tool transform, marker and width calibration)
This session is the "unseen task" in the yumi learned-workspace evaluation (reachability of demonstrations on the YAM arm). Code: https://github.com/Dimios45/yumi (capture, export, replay).
- Downloads last month
- 89