metadata
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 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
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