zju/shadow_grasp_bottle22249179_aug100_2cam

Shadow Bottle Grasp 100 (Two Cameras)

LeRobot v2.1 dataset for Shadow-hand grasping of core_bottle_22249179e88b0502846564a8a219239b.

Contents

• Episodes: 100
• Frames per episode: 177
• Total frames: 17,700
• Frequency: 30 Hz
• Task: Grasp this bottle and lift it up.
• Object scales: 0.08, 0.10, 0.12, 0.15
• Object position augmentation: approximately +/-5 cm in world x/y

Features

• observation.state: 52D
  • measured wrist 6D
  • measured Shadow finger joints 22D
  • measured-state z_gesture 24D
• action: 52D
  • target wrist 6D
  • target Shadow finger joints 22D
  • target-action z_gesture 24D
• observation.images.ego_opposite: H.264, 320x240, 30 Hz
• observation.images.wrist: H.264, 320x240, 30 Hz

The wrist camera is attached to wrist_rz_link and moves with the hand. Episode ordering and object pose metadata are recorded in episode_manifest.csv.

Validation

• 100 parquet files and 200 videos are present.
• State and action values are finite.
• The first 28 action dimensions exactly match the source trajectories.
• The 24D action latent differs from the reference cache by at most 1.23e-5.