| 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 | |