nova2_foam_dissection

Teleoperated demonstrations on the dual-arm Dobot Nova 2 setup with da Vinci EndoWrist instruments, recorded and synchronized with nova_vla.

• LeRobot v2.1, 30 fps, 1 episodes, 2533 frames (1.4 min)
• Tasks: Grasp and retract the foam with the left arm, cut with the right.
• Videos (h264): observation.images.scene 848x480, observation.images.scene_depth 424x240, observation.images.wrist_left 640x480, observation.images.wrist_right 640x480
• Depth: matched to the scene camera, grey = round(mm * 255 / depth_max_mm), 0 = no reading (see video.depth_max_mm in meta/info.json)
• observation.state (38): per arm (left, right) joints (rad), flange xyz (m), flange rot6d, instrument motor counts (4)
• action (26): per arm commanded flange xyz + rot6d, instrument targets
• meta/calibration/camera_intrinsics.json, meta/modality.json (GR00T)