Datasets:
timestamp float64 0 84 | frame_index int64 0 1.19k | episode_index int64 0 14 | index int64 0 1.19k | task_index int64 0 0 | joint_names listlengths 34 34 | joint_velocities listlengths 34 34 | action listlengths 34 34 | observation.state listlengths 34 34 | observation.images.right_arm_camera_sensor_image_compressed stringclasses 1 value | observation.images.left_arm_camera_sensor_image_compressed stringclasses 1 value | observation.images.base_camera_sensor_image_compressed stringclasses 1 value | action.left_arm_wrist_2_joint float64 -0 4.06 | action.left_arm_3f_finger_c_joint_1 float64 0.05 0.51 | action.right_arm_3f_palm_finger_b_joint float64 -0 0 | action.left_arm_3f_finger_a_joint_3 float64 -0.05 -0.05 | action.right_arm_wrist_3_joint float64 -0 0 | action.left_arm_elbow_joint float64 -0 0.01 | action.right_arm_3f_finger_b_joint_2 float64 -0 0 | action.left_arm_shoulder_lift_joint float64 -3.49 -0.01 | action.right_arm_3f_finger_c_joint_2 float64 -0.02 0 | action.left_arm_3f_palm_finger_c_joint float64 -0 0 | action.right_arm_3f_finger_a_joint_2 float64 -0.02 0.02 | action.right_arm_3f_finger_b_joint_1 float64 0.05 0.5 | action.right_arm_3f_finger_b_joint_3 float64 -0.05 -0.05 | action.right_arm_3f_finger_a_joint_1 float64 0.04 0.54 | action.right_arm_3f_finger_c_joint_1 float64 0.05 0.53 | action.right_arm_3f_finger_a_joint_3 float64 -0.05 -0.05 | action.left_arm_3f_finger_b_joint_3 float64 -0.05 -0.05 | action.right_arm_shoulder_lift_joint float64 -0 0.1 | action.right_arm_shoulder_pan_joint float64 -1.8 0 | action.right_arm_wrist_2_joint float64 0 2.48 | action.right_arm_elbow_joint float64 -0.01 0 | action.left_arm_3f_finger_c_joint_3 float64 -0.05 -0.05 | action.left_arm_shoulder_pan_joint float64 -3.15 -0.01 | action.left_arm_3f_finger_c_joint_2 float64 -0.03 0 | action.right_arm_3f_finger_c_joint_3 float64 -0.05 -0.05 | action.right_arm_3f_palm_finger_c_joint float64 -0 0 | action.left_arm_3f_finger_b_joint_2 float64 -0 0.01 | action.left_arm_3f_finger_b_joint_1 float64 0.05 0.52 | action.left_arm_3f_palm_finger_b_joint float64 -0 0 | action.left_arm_3f_finger_a_joint_2 float64 -0.02 0.01 | action.left_arm_3f_finger_a_joint_1 float64 0.05 0.54 | action.left_arm_wrist_1_joint float64 -1.29 0 | action.right_arm_wrist_1_joint float64 -1.92 0 | action.left_arm_wrist_3_joint float64 -0 0 | observation.state.left_arm_wrist_2_joint float64 0 4.06 | observation.state.left_arm_3f_finger_c_joint_1 float64 0.05 0.51 | observation.state.right_arm_3f_palm_finger_b_joint float64 -0 0 | observation.state.left_arm_3f_finger_a_joint_3 float64 -0.05 -0.05 | observation.state.right_arm_wrist_3_joint float64 -0 0 | observation.state.left_arm_elbow_joint float64 -0 0.01 | observation.state.right_arm_3f_finger_b_joint_2 float64 -0 0 | observation.state.left_arm_shoulder_lift_joint float64 -3.49 0 | observation.state.right_arm_3f_finger_c_joint_2 float64 -0.01 0 | observation.state.left_arm_3f_palm_finger_c_joint float64 -0 0 | observation.state.right_arm_3f_finger_a_joint_2 float64 -0.02 0.02 | observation.state.right_arm_3f_finger_b_joint_1 float64 0.05 0.5 | observation.state.right_arm_3f_finger_b_joint_3 float64 -0.05 -0.05 | observation.state.right_arm_3f_finger_a_joint_1 float64 0.04 0.54 | observation.state.right_arm_3f_finger_c_joint_1 float64 0.05 0.53 | observation.state.right_arm_3f_finger_a_joint_3 float64 -0.05 -0.05 | observation.state.left_arm_3f_finger_b_joint_3 float64 -0.05 -0.05 | observation.state.right_arm_shoulder_lift_joint float64 -0 0.1 | observation.state.right_arm_shoulder_pan_joint float64 -1.8 0 | observation.state.right_arm_wrist_2_joint float64 0 2.48 | observation.state.right_arm_elbow_joint float64 -0.01 0 | observation.state.left_arm_3f_finger_c_joint_3 float64 -0.05 -0.05 | observation.state.left_arm_shoulder_pan_joint float64 -3.15 0 | observation.state.left_arm_3f_finger_c_joint_2 float64 -0.03 0 | observation.state.right_arm_3f_finger_c_joint_3 float64 -0.05 -0.05 | observation.state.right_arm_3f_palm_finger_c_joint float64 -0 0 | observation.state.left_arm_3f_finger_b_joint_2 float64 -0 0.01 | observation.state.left_arm_3f_finger_b_joint_1 float64 0.05 0.52 | observation.state.left_arm_3f_palm_finger_b_joint float64 -0 0 | observation.state.left_arm_3f_finger_a_joint_2 float64 -0.01 0.01 | observation.state.left_arm_3f_finger_a_joint_1 float64 0.05 0.54 | observation.state.left_arm_wrist_1_joint float64 -1.29 0 | observation.state.right_arm_wrist_1_joint float64 -1.89 0 | observation.state.left_arm_wrist_3_joint float64 -0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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End of preview. Expand
in Data Studio
testapolicy
LeRobot v2.1 format dataset for robot manipulation.
Dataset Structure
- Episodes: 14 episodes of robot manipulation
- Total Frames: 11605 frames
- Cameras: 3 camera views per episode
observation.images.base_camera_sensor_image_rawobservation.images.arm1_camera_sensor_image_rawobservation.images.arm2_camera_sensor_image_raw
- Robot: Bimanual manipulator with 34 joints
- Format: LeRobot v2.1
Usage with LeRobot
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
dataset = LeRobotDataset("Sraghvi/shrugmaster-test")
Dataset Format
This dataset follows the LeRobot v2.1 format:
data/chunk-000/: Parquet files containing episode datavideos/chunk-000/: MP4 video files for each camera viewmeta/: Metadata filesinfo.json: Dataset configuration and feature descriptionsepisodes.jsonl: Episode metadatatasks.jsonl: Task descriptionsepisodes_stats.jsonl: Dataset statistics
Dataset Details
- Total Episodes: 14
- Total Frames: 11605
- Average Episode Length: 829 frames
- FPS: ~9 (calculated from real data)
- Robot Type: Bimanual arm with 34 joints
- Camera Resolution: 1280x720
- Video Codec: H.264
Features
- Action: Robot action commands with individual joint columns
- Observation State: Robot state observations with individual joint columns
- Isaac Commands: Simulation commands
- Timestamp: Frame timestamps
- Episode/Frame/Task Indices: Data organization
- Joint Names: Names of all robot joints
- Joint Velocities: Velocity data for all joints
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