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Datasets:
Sichang0621
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vials_4_30fps

Tasks:
Robotics
Modalities:
Tabular
Text
Time-series
Formats:
parquet
Size:
100K - 1M
Tags:
LeRobot
yam
teleop
manipulation
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
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README.md ADDED
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+ ---
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+ license: apache-2.0
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+ task_categories:
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+ - robotics
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+ tags:
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+ - LeRobot
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+ - yam
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+ - teleop
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+ - manipulation
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+ configs:
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+ - config_name: default
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+ data_files: data/**/*.parquet
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+ ---
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+
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+ # vials_4_30fps
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+
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+ Teleoperation dataset: **pick up all vials and place them in the stand**
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+
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+ Collected with [limb](https://github.com/TToTMooN/limb) on yam arms.
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+
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+ ## Dataset summary
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+
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+ | Field | Value |
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+ |-------|-------|
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+ | Robot | yam |
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+ | Episodes | 149 |
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+ | Total frames | 176,385 |
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+ | FPS | 30 Hz |
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+ | Task | pick up all vials and place them in the stand |
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+ | Format | LeRobot v3.0 |
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+
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+ ## Cameras
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+
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+ | Name |
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+ |------|
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+ | `head_camera` |
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+ | `left_wrist_camera` |
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+ | `right_wrist_camera` |
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+
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+ Video codec: hevc.
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+
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+ ## State space (`observation.state`, shape `[14]`)
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+
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+ | Index | Name |
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+ |-------|------|
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+ | 0 | `left_joint_0` |
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+ | 1 | `left_joint_1` |
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+ | 2 | `left_joint_2` |
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+ | 3 | `left_joint_3` |
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+ | 4 | `left_joint_4` |
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+ | 5 | `left_joint_5` |
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+ | 6 | `left_gripper` |
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+ | 7 | `right_joint_0` |
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+ | 8 | `right_joint_1` |
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+ | 9 | `right_joint_2` |
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+ | 10 | `right_joint_3` |
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+ | 11 | `right_joint_4` |
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+ | 12 | `right_joint_5` |
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+ | 13 | `right_gripper` |
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+
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+ ## Action space (`action`, shape `[14]`)
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+
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+ | Index | Name |
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+ |-------|------|
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+ | 0 | `left_joint_0` |
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+ | 1 | `left_joint_1` |
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+ | 2 | `left_joint_2` |
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+ | 3 | `left_joint_3` |
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+ | 4 | `left_joint_4` |
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+ | 5 | `left_joint_5` |
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+ | 6 | `left_gripper` |
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+ | 7 | `right_joint_0` |
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+ | 8 | `right_joint_1` |
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+ | 9 | `right_joint_2` |
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+ | 10 | `right_joint_3` |
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+ | 11 | `right_joint_4` |
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+ | 12 | `right_joint_5` |
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+ | 13 | `right_gripper` |
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+
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+ State and action are 1:1 index-aligned.
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+
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+ > **Note:** Gripper dimensions may use different units between state (raw motor
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+ > radians) and action (teleoperator command space). The robot's JointMapper
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+ > rescales between these at command time. Left and right grippers may also have
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+ > different value ranges if the physical hardware travel differs.
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+
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+ ## Usage
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+
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+ ```python
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+ from lerobot.datasets.lerobot_dataset import LeRobotDataset
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+
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+ ds = LeRobotDataset("<repo_id>")
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+ print(ds.num_episodes, ds.num_frames, ds[0]["observation.state"].shape)
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+ ```
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+
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+ ## License
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+
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+ Apache 2.0
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