Datasets:
Dataset Viewer
timestamp
float64 0
84
| frame_index
int64 0
1.19k
| episode_index
int64 0
14
| index
int64 0
1.19k
| task_index
int64 0
0
| joint_names
listlengths 34
34
| joint_velocities
listlengths 34
34
| action
listlengths 34
34
| observation.state
listlengths 34
34
| observation.images.right_arm_camera_sensor_image_compressed
stringclasses 1
value | observation.images.left_arm_camera_sensor_image_compressed
stringclasses 1
value | observation.images.base_camera_sensor_image_compressed
stringclasses 1
value | action.left_arm_wrist_2_joint
float64 -0
4.06
| action.left_arm_3f_finger_c_joint_1
float64 0.05
0.51
| action.right_arm_3f_palm_finger_b_joint
float64 -0
0
| action.left_arm_3f_finger_a_joint_3
float64 -0.05
-0.05
| action.right_arm_wrist_3_joint
float64 -0
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| action.left_arm_elbow_joint
float64 -0
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| action.right_arm_3f_finger_b_joint_2
float64 -0
0
| action.left_arm_shoulder_lift_joint
float64 -3.49
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| action.right_arm_3f_finger_c_joint_2
float64 -0.02
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| action.left_arm_3f_palm_finger_c_joint
float64 -0
0
| action.right_arm_3f_finger_a_joint_2
float64 -0.02
0.02
| action.right_arm_3f_finger_b_joint_1
float64 0.05
0.5
| action.right_arm_3f_finger_b_joint_3
float64 -0.05
-0.05
| action.right_arm_3f_finger_a_joint_1
float64 0.04
0.54
| action.right_arm_3f_finger_c_joint_1
float64 0.05
0.53
| action.right_arm_3f_finger_a_joint_3
float64 -0.05
-0.05
| action.left_arm_3f_finger_b_joint_3
float64 -0.05
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| action.right_arm_shoulder_lift_joint
float64 -0
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| action.right_arm_shoulder_pan_joint
float64 -1.8
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| action.right_arm_wrist_2_joint
float64 0
2.48
| action.right_arm_elbow_joint
float64 -0.01
0
| action.left_arm_3f_finger_c_joint_3
float64 -0.05
-0.05
| action.left_arm_shoulder_pan_joint
float64 -3.15
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| action.left_arm_3f_finger_c_joint_2
float64 -0.03
0
| action.right_arm_3f_finger_c_joint_3
float64 -0.05
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| action.right_arm_3f_palm_finger_c_joint
float64 -0
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| action.left_arm_3f_finger_b_joint_2
float64 -0
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| action.left_arm_3f_finger_b_joint_1
float64 0.05
0.52
| action.left_arm_3f_palm_finger_b_joint
float64 -0
0
| action.left_arm_3f_finger_a_joint_2
float64 -0.02
0.01
| action.left_arm_3f_finger_a_joint_1
float64 0.05
0.54
| action.left_arm_wrist_1_joint
float64 -1.29
0
| action.right_arm_wrist_1_joint
float64 -1.92
0
| action.left_arm_wrist_3_joint
float64 -0
0
| observation.state.left_arm_wrist_2_joint
float64 0
4.06
| observation.state.left_arm_3f_finger_c_joint_1
float64 0.05
0.51
| observation.state.right_arm_3f_palm_finger_b_joint
float64 -0
0
| observation.state.left_arm_3f_finger_a_joint_3
float64 -0.05
-0.05
| observation.state.right_arm_wrist_3_joint
float64 -0
0
| observation.state.left_arm_elbow_joint
float64 -0
0.01
| observation.state.right_arm_3f_finger_b_joint_2
float64 -0
0
| observation.state.left_arm_shoulder_lift_joint
float64 -3.49
0
| observation.state.right_arm_3f_finger_c_joint_2
float64 -0.01
0
| observation.state.left_arm_3f_palm_finger_c_joint
float64 -0
0
| observation.state.right_arm_3f_finger_a_joint_2
float64 -0.02
0.02
| observation.state.right_arm_3f_finger_b_joint_1
float64 0.05
0.5
| observation.state.right_arm_3f_finger_b_joint_3
float64 -0.05
-0.05
| observation.state.right_arm_3f_finger_a_joint_1
float64 0.04
0.54
| observation.state.right_arm_3f_finger_c_joint_1
float64 0.05
0.53
| observation.state.right_arm_3f_finger_a_joint_3
float64 -0.05
-0.05
| observation.state.left_arm_3f_finger_b_joint_3
float64 -0.05
-0.05
| observation.state.right_arm_shoulder_lift_joint
float64 -0
0.1
| observation.state.right_arm_shoulder_pan_joint
float64 -1.8
0
| observation.state.right_arm_wrist_2_joint
float64 0
2.48
| observation.state.right_arm_elbow_joint
float64 -0.01
0
| observation.state.left_arm_3f_finger_c_joint_3
float64 -0.05
-0.05
| observation.state.left_arm_shoulder_pan_joint
float64 -3.15
0
| observation.state.left_arm_3f_finger_c_joint_2
float64 -0.03
0
| observation.state.right_arm_3f_finger_c_joint_3
float64 -0.05
-0.05
| observation.state.right_arm_3f_palm_finger_c_joint
float64 -0
0
| observation.state.left_arm_3f_finger_b_joint_2
float64 -0
0.01
| observation.state.left_arm_3f_finger_b_joint_1
float64 0.05
0.52
| observation.state.left_arm_3f_palm_finger_b_joint
float64 -0
0
| observation.state.left_arm_3f_finger_a_joint_2
float64 -0.01
0.01
| observation.state.left_arm_3f_finger_a_joint_1
float64 0.05
0.54
| observation.state.left_arm_wrist_1_joint
float64 -1.29
0
| observation.state.right_arm_wrist_1_joint
float64 -1.89
0
| observation.state.left_arm_wrist_3_joint
float64 -0
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|
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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[
"left_arm_wrist_2_joint",
"left_arm_3f_finger_c_joint_1",
"right_arm_3f_palm_finger_b_joint",
"left_arm_3f_finger_a_joint_3",
"right_arm_wrist_3_joint",
"left_arm_elbow_joint",
"right_arm_3f_finger_b_joint_2",
"left_arm_shoulder_lift_joint",
"right_arm_3f_finger_c_joint_2",
"left_arm_3f_palm_finger_c_joint",
"right_arm_3f_finger_a_joint_2",
"right_arm_3f_finger_b_joint_1",
"right_arm_3f_finger_b_joint_3",
"right_arm_3f_finger_a_joint_1",
"right_arm_3f_finger_c_joint_1",
"right_arm_3f_finger_a_joint_3",
"left_arm_3f_finger_b_joint_3",
"right_arm_shoulder_lift_joint",
"right_arm_shoulder_pan_joint",
"right_arm_wrist_2_joint",
"right_arm_elbow_joint",
"left_arm_3f_finger_c_joint_3",
"left_arm_shoulder_pan_joint",
"left_arm_3f_finger_c_joint_2",
"right_arm_3f_finger_c_joint_3",
"right_arm_3f_palm_finger_c_joint",
"left_arm_3f_finger_b_joint_2",
"left_arm_3f_finger_b_joint_1",
"left_arm_3f_palm_finger_b_joint",
"left_arm_3f_finger_a_joint_2",
"left_arm_3f_finger_a_joint_1",
"left_arm_wrist_1_joint",
"right_arm_wrist_1_joint",
"left_arm_wrist_3_joint"
] |
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videos/chunk-000/observation.images.right_arm_camera_sensor_image_compressed/episode_000000.mp4
|
videos/chunk-000/observation.images.left_arm_camera_sensor_image_compressed/episode_000000.mp4
|
videos/chunk-000/observation.images.base_camera_sensor_image_compressed/episode_000000.mp4
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[
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"left_arm_3f_finger_a_joint_3",
"right_arm_wrist_3_joint",
"left_arm_elbow_joint",
"right_arm_3f_finger_b_joint_2",
"left_arm_shoulder_lift_joint",
"right_arm_3f_finger_c_joint_2",
"left_arm_3f_palm_finger_c_joint",
"right_arm_3f_finger_a_joint_2",
"right_arm_3f_finger_b_joint_1",
"right_arm_3f_finger_b_joint_3",
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"right_arm_3f_finger_c_joint_1",
"right_arm_3f_finger_a_joint_3",
"left_arm_3f_finger_b_joint_3",
"right_arm_shoulder_lift_joint",
"right_arm_shoulder_pan_joint",
"right_arm_wrist_2_joint",
"right_arm_elbow_joint",
"left_arm_3f_finger_c_joint_3",
"left_arm_shoulder_pan_joint",
"left_arm_3f_finger_c_joint_2",
"right_arm_3f_finger_c_joint_3",
"right_arm_3f_palm_finger_c_joint",
"left_arm_3f_finger_b_joint_2",
"left_arm_3f_finger_b_joint_1",
"left_arm_3f_palm_finger_b_joint",
"left_arm_3f_finger_a_joint_2",
"left_arm_3f_finger_a_joint_1",
"left_arm_wrist_1_joint",
"right_arm_wrist_1_joint",
"left_arm_wrist_3_joint"
] |
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videos/chunk-000/observation.images.right_arm_camera_sensor_image_compressed/episode_000000.mp4
|
videos/chunk-000/observation.images.left_arm_camera_sensor_image_compressed/episode_000000.mp4
|
videos/chunk-000/observation.images.base_camera_sensor_image_compressed/episode_000000.mp4
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[
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"left_arm_3f_finger_a_joint_3",
"right_arm_wrist_3_joint",
"left_arm_elbow_joint",
"right_arm_3f_finger_b_joint_2",
"left_arm_shoulder_lift_joint",
"right_arm_3f_finger_c_joint_2",
"left_arm_3f_palm_finger_c_joint",
"right_arm_3f_finger_a_joint_2",
"right_arm_3f_finger_b_joint_1",
"right_arm_3f_finger_b_joint_3",
"right_arm_3f_finger_a_joint_1",
"right_arm_3f_finger_c_joint_1",
"right_arm_3f_finger_a_joint_3",
"left_arm_3f_finger_b_joint_3",
"right_arm_shoulder_lift_joint",
"right_arm_shoulder_pan_joint",
"right_arm_wrist_2_joint",
"right_arm_elbow_joint",
"left_arm_3f_finger_c_joint_3",
"left_arm_shoulder_pan_joint",
"left_arm_3f_finger_c_joint_2",
"right_arm_3f_finger_c_joint_3",
"right_arm_3f_palm_finger_c_joint",
"left_arm_3f_finger_b_joint_2",
"left_arm_3f_finger_b_joint_1",
"left_arm_3f_palm_finger_b_joint",
"left_arm_3f_finger_a_joint_2",
"left_arm_3f_finger_a_joint_1",
"left_arm_wrist_1_joint",
"right_arm_wrist_1_joint",
"left_arm_wrist_3_joint"
] |
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videos/chunk-000/observation.images.right_arm_camera_sensor_image_compressed/episode_000000.mp4
|
videos/chunk-000/observation.images.left_arm_camera_sensor_image_compressed/episode_000000.mp4
|
videos/chunk-000/observation.images.base_camera_sensor_image_compressed/episode_000000.mp4
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[
"left_arm_wrist_2_joint",
"left_arm_3f_finger_c_joint_1",
"right_arm_3f_palm_finger_b_joint",
"left_arm_3f_finger_a_joint_3",
"right_arm_wrist_3_joint",
"left_arm_elbow_joint",
"right_arm_3f_finger_b_joint_2",
"left_arm_shoulder_lift_joint",
"right_arm_3f_finger_c_joint_2",
"left_arm_3f_palm_finger_c_joint",
"right_arm_3f_finger_a_joint_2",
"right_arm_3f_finger_b_joint_1",
"right_arm_3f_finger_b_joint_3",
"right_arm_3f_finger_a_joint_1",
"right_arm_3f_finger_c_joint_1",
"right_arm_3f_finger_a_joint_3",
"left_arm_3f_finger_b_joint_3",
"right_arm_shoulder_lift_joint",
"right_arm_shoulder_pan_joint",
"right_arm_wrist_2_joint",
"right_arm_elbow_joint",
"left_arm_3f_finger_c_joint_3",
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videos/chunk-000/observation.images.left_arm_camera_sensor_image_compressed/episode_000000.mp4
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videos/chunk-000/observation.images.right_arm_camera_sensor_image_compressed/episode_000000.mp4
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videos/chunk-000/observation.images.right_arm_camera_sensor_image_compressed/episode_000000.mp4
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videos/chunk-000/observation.images.right_arm_camera_sensor_image_compressed/episode_000000.mp4
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"right_arm_wrist_3_joint",
"left_arm_elbow_joint",
"right_arm_3f_finger_b_joint_2",
"left_arm_shoulder_lift_joint",
"right_arm_3f_finger_c_joint_2",
"left_arm_3f_palm_finger_c_joint",
"right_arm_3f_finger_a_joint_2",
"right_arm_3f_finger_b_joint_1",
"right_arm_3f_finger_b_joint_3",
"right_arm_3f_finger_a_joint_1",
"right_arm_3f_finger_c_joint_1",
"right_arm_3f_finger_a_joint_3",
"left_arm_3f_finger_b_joint_3",
"right_arm_shoulder_lift_joint",
"right_arm_shoulder_pan_joint",
"right_arm_wrist_2_joint",
"right_arm_elbow_joint",
"left_arm_3f_finger_c_joint_3",
"left_arm_shoulder_pan_joint",
"left_arm_3f_finger_c_joint_2",
"right_arm_3f_finger_c_joint_3",
"right_arm_3f_palm_finger_c_joint",
"left_arm_3f_finger_b_joint_2",
"left_arm_3f_finger_b_joint_1",
"left_arm_3f_palm_finger_b_joint",
"left_arm_3f_finger_a_joint_2",
"left_arm_3f_finger_a_joint_1",
"left_arm_wrist_1_joint",
"right_arm_wrist_1_joint",
"left_arm_wrist_3_joint"
] |
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videos/chunk-000/observation.images.right_arm_camera_sensor_image_compressed/episode_000000.mp4
|
videos/chunk-000/observation.images.left_arm_camera_sensor_image_compressed/episode_000000.mp4
|
videos/chunk-000/observation.images.base_camera_sensor_image_compressed/episode_000000.mp4
| 0
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| 0.0001
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| -0.0001
| 0
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| 0
| 0.0001
| 0.0495
| -0.0001
| 0
| 0.0001
| 0
| 0.0495
| -0.0001
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| 0.0001
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| 0
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| 0
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| 0.0001
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| 0.0001
| 0.0495
| -0.0001
| 0
| 0.0001
|
End of preview. Expand
in Data Studio
testapolicy
LeRobot v2.1 format dataset for robot manipulation.
Dataset Structure
- Episodes: 14 episodes of robot manipulation
- Total Frames: 11605 frames
- Cameras: 3 camera views per episode
observation.images.base_camera_sensor_image_rawobservation.images.arm1_camera_sensor_image_rawobservation.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 datavideos/chunk-000/: MP4 video files for each camera viewmeta/: Metadata filesinfo.json: Dataset configuration and feature descriptionsepisodes.jsonl: Episode metadatatasks.jsonl: Task descriptionsepisodes_stats.jsonl: Dataset statistics
Dataset Details
- Total Episodes: 14
- Total Frames: 11605
- Average Episode Length: 829 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
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