| --- |
| license: mit |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - teleoperation |
| - dual-arm |
| configs: |
| - config_name: default |
| data_files: data/*/*.parquet |
| --- |
| |
| # nero_bag_box — dual-arm bag/box manipulation (LeRobot v2.0) |
|
|
| Teleoperated demonstrations on the AgileX NERO dual-arm rig (two 7-DoF |
| S-R-S arms), collected with a Pico 4 WebXR teleop rig and cut into |
| single-task clips. Ready for π0.5 / openpi-style fine-tuning. |
|
|
| ## Tasks |
|
|
| - **Put the bag into the box** |
| - **Pour the bag out of the box** |
|
|
| ## Features |
|
|
| | key | shape | notes | |
| |---|---|---| |
| | `observation.state` | float32[16] | left joint1–7 (rad), left gripper (0–1, measured), right joint1–7, right gripper | |
| | `action` | float32[16] | the **commanded** teleop targets for the same tick (IK joint targets + gripper command), same layout | |
| | `observation.images.base` | 640×480 h264 @ 15 fps | scene camera | |
| | `observation.images.wrist_left` | 640×480 h264 @ 15 fps | left wrist | |
| | `observation.images.wrist_right` | 640×480 h264 @ 15 fps | right wrist | |
| | `observation.images.depth_wrist_left` | 640×480 HEVC gray12le @ 15 fps | aligned left-wrist metric depth | |
| | `observation.images.depth_wrist_right` | 640×480 HEVC gray12le @ 15 fps | aligned right-wrist metric depth | |
|
|
| 15 fps; every frame is one fresh camera observation with the joint state |
| sampled at the same tick. Actions are the next measured robot state. Wrist |
| depth is stored as LeRobot depth-video features next to the corresponding RGB |
| videos with identical episode and frame indices. Raw uint16 depth is converted |
| to metres using each episode's RealSense scale, logarithmically quantized to |
| 12 bits over 0–3 m, and encoded losslessly as HEVC `gray12le`; its quantizer |
| parameters are recorded in `meta/info.json` for dequantization on load. A raw |
| zero remains zero and represents invalid/no-return depth. The fixed base camera |
| runs a stereo-IR profile and therefore has no depth stream. |
|
|
| Collected & converted 2026-08-08. |
|
|
