README.md

metadata

license: mit
task_categories:
  - robotics
language:
  - en
tags:
  - robotics
  - lerobot
  - manipulation
  - bimanual
size_categories:
  - 1K<n<10K
pretty_name: corrected-mapping
configs:
  - config_name: default
    data_files:
      - split: train
        path: data/chunk-000/episode_*.parquet

corrected-mapping

LeRobot v2.1 format dataset for robot manipulation.

Dataset Structure

• Episodes: 1 episodes of robot manipulation
• Total Frames: 327 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:

• 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: 1
• Total Frames: 327
• Average Episode Length: 327 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