---
tags:
- robotics
- stringman
---

# plates_all

Raw plate captures for the stringman visual servoing dataset: what the gripper camera saw,
stored exactly as it came off the robot. Nothing here is matted, keyed or composited.

| kind | runs | plates |
| --- | --- | --- |
| fingerplates | 3 | 4536 |
| floorplates | 15 | 23142 |
| objectplates | 39 | 60297 |

Each run is a parquet file of encoded frames, or a `.ts` video plus a `.jsonl` telemetry
track, described by one line of `manifest.jsonl`. Read it with
`nf_robot.ml.visual_servoing.plates`, and pull it into a local collection with:

    python -m nf_robot.ml.visual_servoing.merge_plates --into plates --from naavox/plates_all

Mattes and synthetic frames are derived from these by `finger_matte.py`, `object_matte.py`
and `synth_frames.py`, whose thresholds are still being tuned - so they are rebuilt from
this, never stored alongside it.