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| license: cc-by-nc-sa-4.0 |
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| # M7 pick place example |
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| <!-- Badges (replace HF link after upload) --> |
| [](https://huggingface.co/datasets/) |
| [](LICENSE) |
|
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| ## Dataset Description |
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| This dataset contains multimodal robotic manipulation trajectories of an M7 Robot equipped with the xhand_norm dexterous hand. The recorded task is a fundamental tabletop Pick-and-Place sequence involving two distinct objects. |
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| The dataset is formatted for seamless integration with the LeRobot library, making it ideal for training Vision-Language-Action (VLA) models. |
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| --- |
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| ## Dataset Structure |
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| ### Directory Layout |
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| ``` |
| Pick_Apple_Mango/ |
| ├── 2031605/ # Split 1 (491 episodes, 118,555 frames) |
| │ ├── data/ |
| │ │ └── chunk-000/ |
| │ │ ├── episode_000000.parquet |
| │ │ ├── episode_000001.parquet |
| │ │ └── ... |
| │ ├── meta/ |
| │ │ ├── episodes.jsonl # episode length & task descriptions |
| │ │ ├── info.json # field definitions, robot type, etc. |
| │ │ ├── joint_indexes.json # semantic names for action/state dimensions |
| │ │ └── tasks.jsonl # 16 natural-language task instructions |
| │ └── videos/ |
| │ └── ... |
| ├── 2031607/ # Split 2 (255 episodes, 46,742 frames) |
| │ └── ... |
| ├── 2031704/ # Split 3 (720 episodes, 121,158 frames) |
| │ └── ... |
| └── .cache/ # LeRobot internal cache (safe to ignore) |
| ``` |
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| ### Data Format |
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| Each record (one row in a parquet file) follows the [LeRobot format](https://github.com/huggingface/lerobot): |
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| | Field | Type | Shape | Description | |
| |-------|------|-------|-------------| |
| | `observation.images.cam_high` | video (h264) | [480, 848, 3] | Overhead camera, 848×480, 20fps | |
| | `observation.images.cam_left` | video (h264) | [480, 640, 3] | Left shoulder camera, 640×480, 20fps | |
| | `observation.images.cam_right` | video (h264) | [480, 640, 3] | Right shoulder camera, 640×480, 20fps | |
| | `observation.state` | float32 | [57] | Full robot state (arms + end-effectors + hands) | |
| | `action` | float32 | [38] | Dual-arm end-effector + dexterous hand actions | |
| | `episode_index` | int64 | [1] | Episode index | |
| | `frame_index` | int64 | [1] | Frame index within the episode | |
| | `task_index` | int64 | [1] | Task index (0–15) | |
| | `timestamp` | float32 | [1] | Timestamp (seconds) | |
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| > **Note**: Actions are expressed as absolute end-effector pose (xyz + quaternion) combined with dexterous hand joint angles. See `meta/joint_indexes.json` for full semantic labels. |
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| --- |
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| ## Dataset Statistics |
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| > ⚠️ All three splits combined |
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| | Statistic | Value | |
| |-----------|-------| |
| | **Total Episodes** | **1,466** | |
| | **Total Frames** | **286,455** | |
| | **Total Videos** | 4,398 | |
| | **Robot Type** | M7_XHAND1 (dual-arm + bi-manual hands) | |
| | **Average Episode Length** | ~195 frames | |
| | **FPS** | 20 Hz | |
| | **Collection Environment** | Indoor tabletop (real-world) | |
| | **Object Categories** | Apple, Mango | |
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| ### Split Breakdown |
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| | Split | Episodes | Frames | Videos | |
| |-------|----------|--------|--------| |
| | 2031605 | 491 | 118,555 | 1,473 | |
| | 2031607 | 255 | 46,742 | 765 | |
| | 2031704 | 720 | 121,158 | 2,160 | |
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| ### Action / State Dimensions |
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| | Field | Dimensions | Composition | |
| |-------|-----------|-------------| |
| | `action` | 38 | Right end-effector (7: xyz + quat(xyzw)) + Right hand (12) + Left end-effector (7) + Left hand (12) | |
| | `observation.state` | 57 | Right arm joints (7) + Left arm joints (7) + Dual end-effector poses (14) + Dual hands (24) + Waist/Neck (5) | |
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| --- |
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| ## Camera Configuration |
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| | Camera | Resolution | FPS | Codec | View | |
| |--------|-----------|-----|-------|------| |
| | `cam_high` | 848×480 | 20 | h264 | Overhead — full tabletop view | |
| | `cam_left` | 640×480 | 20 | h264 | Left hand perspective | |
| | `cam_right` | 640×480 | 20 | h264 | Right hand perspective | |
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| --- |
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| ## Robot System |
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| - **Model**: M7_XHAND1 (dual-arm collaborative robot) |
| - **Arms**: 7 DoF each (shoulder_pitch, shoulder_roll, arm_yaw, elbow_pitch, elbow_yaw, wrist_pitch, wrist_roll) |
| - **Dexterous Hands**: 12 DoF per hand (thumb_bend, thumb_rota1, thumb_rota2, index_bend, index_joint1, index_joint2, mid_joint1, mid_joint2, ring_joint1, ring_joint2, pinky_joint1, pinky_joint2; left hand has an additional ring_joint2) |
| - **Additional Joints**: Waist 3 DoF + Neck 2 DoF |
| - **End-Effectors**: 7 DoF (position xyz + quaternion orientation (xyzw)) |
| - **Dataset Codebase Version**: LeRobot `v2.0` |
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| --- |
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| ## Dataset Card Authors |
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| <!-- List all contributors to this dataset card --> |
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