| --- |
| license: mit |
| task_categories: |
| - robotics |
| language: |
| - en |
| tags: |
| - robotics |
| - lerobot |
| - manipulation |
| - bimanual |
| size_categories: |
| - 1K<n<10K |
| pretty_name: test-exp |
| configs: |
| - config_name: default |
| data_files: |
| - split: train |
| path: "data/chunk-000/episode_*.parquet" |
| --- |
| |
| # test-exp |
|
|
| LeRobot v2.1 format dataset for robot manipulation. |
|
|
| ## Dataset Structure |
|
|
| - **Episodes**: 2 episodes of robot manipulation |
| - **Total Frames**: 2214 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 |
|
|
| ```python |
| 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 data |
| - `videos/chunk-000/`: MP4 video files for each camera view |
| - `meta/`: Metadata files |
| - `info.json`: Dataset configuration and feature descriptions |
| - `episodes.jsonl`: Episode metadata |
| - `tasks.jsonl`: Task descriptions |
| - `episodes_stats.jsonl`: Dataset statistics |
|
|
| ## Dataset Details |
|
|
| - **Total Episodes**: 2 |
| - **Total Frames**: 2214 |
| - **Average Episode Length**: 1107 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 |
|
|
