HYHero/in_package_socks_0805

In Package Socks 0805

Private robot-manipulation dataset containing 41 episodes (source episodes 00–40) for the task:

Pick a sock from the container and place it on the table

Repository layout

• Repository root: LeRobot v3 dataset produced with the official lerobot==0.6.0 dataset API. This placement allows LeRobotDataset and ACT training tools to load the repository directly.
• raw_original/: byte-preserved original ROS 2 MCAP episodes, original H.264 videos, timestamps, URDF, and recorder metadata.
• conversion_audit/: conversion reports, SHA-256 manifests, per-frame source mappings, interpolation/drop accounting, official-loader validation, ACT smoke test, and raw-versus-converted video comparisons.

LeRobot data

• Episodes: 41
• Frames: 38,600
• Frequency: 30 Hz
• State: follower actual /joint_states
• Action: post-limit /leader/joint_trajectory
• Joint order: joint1, joint2, joint3, joint4, joint5, gripper_joint_1
• Cameras:
  • observation.images.camera1: wrist camera
  • observation.images.camera2: overhead camera
• Video: H.264, yuv420p, 640×480, 30 fps

Short timestamp regressions were removed as timestamp-and-value/frame pairs. Numeric state/action gaps were linearly interpolated only between real samples with a maximum supported span of 100 ms; targets requiring longer-gap interpolation were excluded. Camera frames use nearest real-frame matching with a 50 ms tolerance and no synthetic pixel interpolation.

Validation summary

• Official LeRobot 0.6.0 loader: pass
• Official ACTPolicy forward, finite loss, and backward gradients: pass
• Candidate frames: 38,635
• Retained frames: 38,600 (99.909%)
• Excluded frames: 35 (0.091%)
• Raw-versus-converted video comparison: 42 mapped samples, mean PSNR 42.27 dB
• Original source before/after conversion and backup SHA-256 manifests: equal

The wrist camera can be naturally occluded by the robot, gripper, or sock during task execution. These frames are intentional observations and were not removed.

Local loading example

from lerobot.datasets.lerobot_dataset import LeRobotDataset

dataset = LeRobotDataset(
    "HYHero/in_package_socks_0805",
    root="/path/to/local/cache/in_package_socks_0805",
)

This repository is private and no redistribution license is granted.