| --- |
| tags: |
| - lerobot |
| - robotics |
| - imitation-learning |
| - so101 |
| license: other |
| --- |
| |
| # SO-101 egg-cracking teleoperation: task success, data-capture failure |
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| One public LeRobot v3-format teleoperation episode recorded with a Hiwonder SO-ARM101 follower arm. |
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| ## Result |
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| The egg-cracking manipulation itself succeeded under human teleoperation. The episode is published as an honest engineering record: the physical task succeeded, while the camera-data pipeline did not remain reliable for the entire recording. |
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| - 1 episode / 4,301 frames / approximately 143 seconds at 30 FPS |
| - Robot action and state vectors for six joints, including the gripper |
| - H.264 video streams for fixed overhead and wrist views |
| - No audio |
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| ## What went wrong |
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| The wrist-camera stream is valid at the beginning of the episode but later contains an unintended overhead-camera view after a Windows camera-routing issue. The dedicated `overhead_camera` stream is recorded throughout the episode. |
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| This makes the episode unsuitable as-is for training that assumes a stable wrist viewpoint. It remains useful for inspecting the successful task, the action/state trajectory, and the failure mode of a practical USB-camera data pipeline. |
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| ## Corrective actions for subsequent recordings |
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| 1. Resolve cameras at launch using immutable USB VID/PID values instead of remembered OpenCV indices. |
| 2. Exclude the notebook's built-in webcam from robot-camera selection. |
| 3. Force the OpenCV DirectShow backend on Windows instead of automatic backend selection. |
| 4. Before long recording, run a two-camera preview and verify both views remain distinct for several minutes. |
| 5. Reject or label any episode whose camera stream changes viewpoint mid-recording; do not mix it with clean imitation-learning data. |
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| ## Task |
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| Manipulate and crack an egg under human teleoperation. |
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| ## Privacy |
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| Published with the recorder's authorization. It contains workspace imagery; please do not use it for identity, surveillance, or unrelated personal-data analysis. |
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