Upload Buster_Real_Data_Fixed_Paths dataset

README.md

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+---
+license: mit
+task_categories:
+  - robotics
+language:
+  - en
+tags:
+  - robotics
+  - lerobot
+  - manipulation
+  - bimanual
+size_categories:
+  - 1K<n<10K
+pretty_name: Buster_Real_Data_Fixed_Paths
+configs:
+- config_name: default
+  data_files:
+  - split: train
+    path: "data/chunk-000/episode_*.parquet"
+---
+
+# Buster_Real_Data_Fixed_Paths
+
+LeRobot v2.1 format dataset for robot manipulation.
+
+## Dataset Structure
+
+- **Episodes**: 2 episodes of robot manipulation
+- **Total Frames**: 2962 frames
+- **Cameras**: 3 camera views per episode
+  - `observation.images.base_camera_sensor_image_raw`
+  - `observation.images.arm1_camera_sensor_image_raw`
+  - `observation.images.arm2_camera_sensor_image_raw`
+- **Robot**: Bimanual manipulator with 34 joints
+- **Format**: LeRobot v2.1
+
+## Usage with LeRobot
+
+```python
+from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
+
+dataset = LeRobotDataset("Sraghvi/shrugmaster-test")
+```
+
+## Dataset Format
+
+This dataset follows the LeRobot v2.1 format:
+
+- `data/chunk-000/`: Parquet files containing episode data
+- `videos/chunk-000/`: MP4 video files for each camera view
+- `meta/`: Metadata files
+  - `info.json`: Dataset configuration and feature descriptions
+  - `episodes.jsonl`: Episode metadata
+  - `tasks.jsonl`: Task descriptions
+  - `episodes_stats.jsonl`: Dataset statistics
+
+## Dataset Details
+
+- **Total Episodes**: 2
+- **Total Frames**: 2962
+- **Average Episode Length**: 1481 frames
+- **FPS**: ~9 (calculated from real data)
+- **Robot Type**: Bimanual arm with 34 joints
+- **Camera Resolution**: 1280x720
+- **Video Codec**: H.264
+
+## Features
+
+- **Action**: Robot action commands with individual joint columns
+- **Observation State**: Robot state observations with individual joint columns
+- **Isaac Commands**: Simulation commands
+- **Timestamp**: Frame timestamps
+- **Episode/Frame/Task Indices**: Data organization
+- **Joint Names**: Names of all robot joints
+- **Joint Velocities**: Velocity data for all joints

data/chunk-000/episode_000000.parquet

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+oid sha256:11fed146e3a40d346193c940955f39eadd1fc2ed9ca9de6ab6a84368fee0ce31
+size 265796

data/chunk-000/episode_000001.parquet

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+size 599470

meta/episodes.jsonl

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+{"episode_index": 0, "episode_length": 1194, "episode_path": "data/chunk-000/episode_000000.parquet"}
+{"episode_index": 1, "episode_length": 1768, "episode_path": "data/chunk-000/episode_000001.parquet"}

meta/info.json

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+{
+  "codebase_version": "v2.1",
+  "robot_type": "multi_robot_dynamic",
+  "total_episodes": 2,
+  "total_frames": 2962,
+  "total_tasks": 1,
+  "total_videos": 2,
+  "total_chunks": 1,
+  "chunks_size": 2,
+  "fps": 10.7,
+  "splits": {
+    "train": "0:1"
+  },
+  "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+  "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+  "features": {
+    "action": {
+      "dtype": "float32",
+      "shape": [
+        34
+      ],
+      "names": [
+        "left_arm_wrist_2_joint",
+        "left_arm_3f_finger_c_joint_1",
+        "right_arm_3f_palm_finger_b_joint",
+        "left_arm_3f_finger_a_joint_3",
+        "right_arm_wrist_3_joint",
+        "left_arm_elbow_joint",
+        "right_arm_3f_finger_b_joint_2",
+        "left_arm_shoulder_lift_joint",
+        "right_arm_3f_finger_c_joint_2",
+        "left_arm_3f_palm_finger_c_joint",
+        "right_arm_3f_finger_a_joint_2",
+        "right_arm_3f_finger_b_joint_1",
+        "right_arm_3f_finger_b_joint_3",
+        "right_arm_3f_finger_a_joint_1",
+        "right_arm_3f_finger_c_joint_1",
+        "right_arm_3f_finger_a_joint_3",
+        "left_arm_3f_finger_b_joint_3",
+        "right_arm_shoulder_lift_joint",
+        "right_arm_shoulder_pan_joint",
+        "right_arm_wrist_2_joint",
+        "right_arm_elbow_joint",
+        "left_arm_3f_finger_c_joint_3",
+        "left_arm_shoulder_pan_joint",
+        "left_arm_3f_finger_c_joint_2",
+        "right_arm_3f_finger_c_joint_3",
+        "right_arm_3f_palm_finger_c_joint",
+        "left_arm_3f_finger_b_joint_2",
+        "left_arm_3f_finger_b_joint_1",
+        "left_arm_3f_palm_finger_b_joint",
+        "left_arm_3f_finger_a_joint_2",
+        "left_arm_3f_finger_a_joint_1",
+        "left_arm_wrist_1_joint",
+        "right_arm_wrist_1_joint",
+        "left_arm_wrist_3_joint"
+      ]
+    },
+    "observation.state": {
+      "dtype": "float32",
+      "shape": [
+        34
+      ],
+      "names": [
+        "left_arm_wrist_2_joint",
+        "left_arm_3f_finger_c_joint_1",
+        "right_arm_3f_palm_finger_b_joint",
+        "left_arm_3f_finger_a_joint_3",
+        "right_arm_wrist_3_joint",
+        "left_arm_elbow_joint",
+        "right_arm_3f_finger_b_joint_2",
+        "left_arm_shoulder_lift_joint",
+        "right_arm_3f_finger_c_joint_2",
+        "left_arm_3f_palm_finger_c_joint",
+        "right_arm_3f_finger_a_joint_2",
+        "right_arm_3f_finger_b_joint_1",
+        "right_arm_3f_finger_b_joint_3",
+        "right_arm_3f_finger_a_joint_1",
+        "right_arm_3f_finger_c_joint_1",
+        "right_arm_3f_finger_a_joint_3",
+        "left_arm_3f_finger_b_joint_3",
+        "right_arm_shoulder_lift_joint",
+        "right_arm_shoulder_pan_joint",
+        "right_arm_wrist_2_joint",
+        "right_arm_elbow_joint",
+        "left_arm_3f_finger_c_joint_3",
+        "left_arm_shoulder_pan_joint",
+        "left_arm_3f_finger_c_joint_2",
+        "right_arm_3f_finger_c_joint_3",
+        "right_arm_3f_palm_finger_c_joint",
+        "left_arm_3f_finger_b_joint_2",
+        "left_arm_3f_finger_b_joint_1",
+        "left_arm_3f_palm_finger_b_joint",
+        "left_arm_3f_finger_a_joint_2",
+        "left_arm_3f_finger_a_joint_1",
+        "left_arm_wrist_1_joint",
+        "right_arm_wrist_1_joint",
+        "left_arm_wrist_3_joint"
+      ]
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "names": null
+    },
+    "observation.images.right_arm_camera_sensor_image_compressed": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channels"
+      ],
+      "info": {
+        "video.height": 720,
+        "video.width": 1280,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "video.fps": 10.7,
+        "video.channels": 3,
+        "has_audio": false
+      }
+    },
+    "observation.images.left_arm_camera_sensor_image_compressed": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channels"
+      ],
+      "info": {
+        "video.height": 720,
+        "video.width": 1280,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "video.fps": 10.7,
+        "video.channels": 3,
+        "has_audio": false
+      }
+    },
+    "observation.images.base_camera_sensor_image_compressed": {
+      "dtype": "video",
+      "shape": [
+        720,
+        1280,
+        3
+      ],
+      "names": [
+        "height",
+        "width",
+        "channels"
+      ],
+      "info": {
+        "video.height": 720,
+        "video.width": 1280,
+        "video.codec": "h264",
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false,
+        "video.fps": 10.7,
+        "video.channels": 3,
+        "has_audio": false
+      }
+    }
+  }
+}

meta/tasks.jsonl

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+{"task_index": 0, "task": "Buster robot picking up a cube"}

videos/chunk-000/observation.images.base_camera_sensor_image_compressed/episode_000000.mp4

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