rainbowrobotics/open_door_mobile_turning_260819

RBY1 Open Door Mobile Turning Dataset (260819)

This dataset was created using LeRobot.

Dataset Description

RBY1 mobile-manipulation demonstration dataset for approaching a door, stopping, and beginning an open-door turning motion.

The dataset combines four demonstrations collected on August 14 and August 19, 2026.

Dataset Information

Item	Value
Robot	RBY1
Format	LeRobot v3.0
FPS	30
Episodes	73
Frames	78,283
Duration	Approximately 43 minutes 29 seconds
Tasks	1
Action dimension	23
Observation state dimension	44
Cameras	Front and right

Camera Streams

Feature	Resolution (W x H)	Format
observation.images.front	640 x 480	AV1 video
observation.images.right	480 x 640	AV1 video

Source Datasets

The datasets were merged in the following order:

Merged episodes	Source dataset	Episodes	Frames
0-3	rainbowrobotics/open_door_mobile_20260814_064253	4	4,529
4-19	rainbowrobotics/open_door_mobile_20260814_061354	16	19,327
20-48	rainbowrobotics/open_door_mobile_20260819_051732	29	29,893
49-72	rainbowrobotics/open_door_mobile_20260819_065317_trimmed_ep22	24	24,534

Trimming History

The original episode 22 of rainbowrobotics/open_door_mobile_20260819_065317 contained 1,665 frames.

Its final 750 frames (25 seconds at 30 FPS) were removed, leaving 915 frames. This episode corresponds to episode 71 in the merged dataset.

Features

• action: 23-dimensional float32 robot command
• observation.state: 44-dimensional float32 robot state
• observation.images.front: front RGB camera stream
• observation.images.right: right RGB camera stream
• timestamp, frame_index, episode_index, index, and task_index

See meta/info.json for the complete schema and feature names.

Usage

from lerobot.datasets import LeRobotDataset

dataset = LeRobotDataset(
    "rainbowrobotics/open_door_mobile_turning_260819",
    revision="v3.0",
)

print(dataset.meta.total_episodes)  # 73
print(dataset.meta.total_frames)    # 78283
print(dataset.fps)                  # 30

License

Apache License 2.0.