File size: 2,066 Bytes
fec3f6a | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 | ---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- yam
- teleop
- manipulation
configs:
- config_name: default
data_files: data/**/*.parquet
---
# vials_4_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 | 149 |
| Total frames | 176,385 |
| 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
|