Datasets:
Request for Information on End-Effector Pose and Camera Parameters
Hi, thank you for releasing this great work — the dataset looks very high-quality and extremely useful.
While exploring the provided data, I noticed that all states and actions seem to be represented as joint angles, and I couldn’t find any recorded end-effector poses. May I ask whether the end-effector pose data was recorded? If not, would it be possible to share the URDF version used during data collection? With that, I should be able to compute the poses via forward kinematics.
In addition, I didn’t find information about the camera intrinsics or extrinsics in the current release. Were these parameters recorded? If not, would it be possible to share the simulation script or configuration files used for data generation, which should contain the camera setup?
Thank you very much for your time and for making this dataset available.
Dear DeNoise23,
Thanks for paying attention to our work! I will answer your two questions sequentially.
For the first question, regarding the end-effector pose data. For franka robot, I have provided the end-effector pose in proprio and actions. For the split_aloha, lift2 and genie-1 robot, I will attach the urdf into the huggingface files.
For the second question, I will arange the camera intrinsics for each robot's different views, however, we don't save the camera extrinsics in the LEROBOT data format.
Notably, piper100 is the arm of split_aloha, r5a is the arm of lift2, g1_120s is the Genie-1 robot.