---
license: apache-2.0
task_categories:
  - robotics
tags:
  - LeRobot
  - yam
  - teleop
  - manipulation
configs:
  - config_name: default
    data_files: data/**/*.parquet
---

# vial_correction_30fps

Teleoperation dataset: **Pick up all vials and place them in the stand.**

Collected with [limb](https://github.com/TToTMooN/limb) on yam arms.

## Dataset summary

| Field | Value |
|-------|-------|
| Robot | yam |
| Episodes | 83 |
| Total frames | 67,934 |
| FPS | 30 Hz |
| Task | Pick up all vials and place them in the stand. |
| Format | LeRobot v3.0 |

## Cameras

| Name |
|------|
| `head_camera` |
| `left_wrist_camera` |
| `right_wrist_camera` |

Video codec: hevc.

## State space (`observation.state`, shape `[14]`)

| Index | Name |
|-------|------|
| 0 | `left_joint_0` |
| 1 | `left_joint_1` |
| 2 | `left_joint_2` |
| 3 | `left_joint_3` |
| 4 | `left_joint_4` |
| 5 | `left_joint_5` |
| 6 | `left_gripper` |
| 7 | `right_joint_0` |
| 8 | `right_joint_1` |
| 9 | `right_joint_2` |
| 10 | `right_joint_3` |
| 11 | `right_joint_4` |
| 12 | `right_joint_5` |
| 13 | `right_gripper` |

## Action space (`action`, shape `[14]`)

| Index | Name |
|-------|------|
| 0 | `left_joint_0` |
| 1 | `left_joint_1` |
| 2 | `left_joint_2` |
| 3 | `left_joint_3` |
| 4 | `left_joint_4` |
| 5 | `left_joint_5` |
| 6 | `left_gripper` |
| 7 | `right_joint_0` |
| 8 | `right_joint_1` |
| 9 | `right_joint_2` |
| 10 | `right_joint_3` |
| 11 | `right_joint_4` |
| 12 | `right_joint_5` |
| 13 | `right_gripper` |

State and action are 1:1 index-aligned.

> **Note:** Gripper dimensions may use different units between state (raw motor
> radians) and action (teleoperator command space). The robot's JointMapper
> rescales between these at command time. Left and right grippers may also have
> different value ranges if the physical hardware travel differs.

## Usage

```python
from lerobot.datasets.lerobot_dataset import LeRobotDataset

ds = LeRobotDataset("<repo_id>")
print(ds.num_episodes, ds.num_frames, ds[0]["observation.state"].shape)
```

## License

Apache 2.0