Sraghvi/shrugmaster-test

Shrugmaster Test

LeRobot v2.1 format dataset for robot manipulation.

Dataset Structure

• Episodes: 4 episodes of robot manipulation
• Total Frames: 1,440 frames
• Cameras: 3 camera views per episode
  • observation.images.base_camera_sensor_image_raw
  • observation.images.arm1_camera_sensor_image_raw
  • observation.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:

shrugmaster-test/
├── data/
│   └── chunk-000/
│       ├── episode_000000.parquet
│       ├── episode_000001.parquet
│       ├── episode_000002.parquet
│       └── episode_000003.parquet
├── videos/
│   └── chunk-000/
│       ├── observation.images.base_camera_sensor_image_raw/
│       │   ├── episode_000000.mp4
│       │   ├── episode_000001.mp4
│       │   ├── episode_000002.mp4
│       │   └── episode_000003.mp4
│       ├── observation.images.arm1_camera_sensor_image_raw/
│       │   └── ... (same episodes)
│       └── observation.images.arm2_camera_sensor_image_raw/
│           └── ... (same episodes)
├── meta/
│   ├── info.json
│   ├── episodes.jsonl
│   ├── tasks.jsonl
│   └── episodes_stats.jsonl
└── README.md

Dataset Details

• Total Episodes: 4
• Total Frames: 1,440
• Average Episode Length: 360 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