# UMI on Legs manipulation trajectories

From the catalogue. Listed by one researcher from one source page.

- id: `umi-on-legs-manipulation-trajectories`
- kind: handheld gripper
- robot or device: UMI handheld gripper (deployed on a quadruped with arm) (class: other)
- how collected: handheld gripper, not teleop
- size as stated: not stated
- hours: not stated | hours only claimed: none | episodes: not stated
- year: 2024
- organisation: Stanford REAL lab (real-stanford)
- licence: not stated (class: not stated)
- access: open (class: open)
- link (dataset): https://raw.githubusercontent.com/real-stanford/umi-on-legs/main/mani-centric-wbc/docs/starter.md
- note: data.zip holds preprocessed trajectories for the whole-body controller, e.g. tossing.

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