| --- |
| license: mit |
| task_categories: |
| - robotics |
| tags: |
| - robomimic |
| - cpgen |
| - nutassembly |
| size_categories: |
| - 1B<n<10B |
| --- |
| |
| # NutAssemblySquare 21-View Matched |
|
|
| Dataset rendered via CPGen for the NutAssemblySquare task (robomimic). Same 199 trajectories observed from 22 cameras. |
|
|
| ## Specs |
| - **File**: `nutassembly-21view-matched.hdf5` (~85.8 GB, split into 8 × 10.7 GB chunks below) |
| - **Cameras**: `agentview`, `robot0_eye_in_hand`, and 21 `third_view_*` at cpgen azimuths {0, ±15, ±30, ±45, ±60, ±75, ±90, ±105, ±120, ±135, ±150, ±165, 180} — note **asymmetric**, third_view set is missing −75, −90, −105 |
| - **Resolution**: 84×84 RGB + depth + per-camera intrinsics + extrinsics |
| - **Demos**: 199 trajectories, ~131 frames each |
| - **TCP**: per-camera tcp_pixel_coords, tcp_pos (camera frame), tcp_orn (rotation 9d), tcp_in_frame visibility flag |
| |
| ## Reassembly |
| ```bash |
| huggingface-cli download yyHYR/nutassembly-21view-matched --repo-type=dataset --local-dir . |
| cat nutassembly-21view-matched.hdf5.part-* > nutassembly-21view-matched.hdf5 |
| sha256sum -c manifest.sha256 |
| ``` |
| |
| ## Loader |
| Standard robomimic HDF5 format. Reads via `savla.dataset.robomimic_hdf5.RobomimicHDF5Dataset`. |
|
|
