action listlengths 34 34 ⌀ | observation.state listlengths 34 34 ⌀ | isaac_commands listlengths 34 34 ⌀ | timestamp float64 0 28 ⌀ | frame_index int64 0 326 ⌀ | episode_index int64 0 0 ⌀ | index int64 0 326 ⌀ | task_index int64 0 0 ⌀ | joint_names listlengths 34 34 ⌀ | joint_velocities listlengths 34 34 ⌀ | action.left_arm_wrist_2_joint float64 -3.15 -1.4 ⌀ | action.left_arm_3f_finger_c_joint_1 float64 -3.15 -0 ⌀ | action.right_arm_3f_palm_finger_b_joint float64 -3.15 0 ⌀ | action.left_arm_3f_finger_a_joint_3 float64 -1.2 0.01 ⌀ | action.right_arm_wrist_3_joint float64 -0 4.03 ⌀ | action.left_arm_elbow_joint float64 -0 0 ⌀ | action.right_arm_3f_finger_b_joint_2 float64 -1.2 0.05 ⌀ | action.left_arm_shoulder_lift_joint float64 -1.82 0 ⌀ | action.right_arm_3f_finger_c_joint_2 float64 -0.05 4.03 ⌀ | action.left_arm_3f_palm_finger_c_joint float64 -0 2.48 ⌀ | action.right_arm_3f_finger_a_joint_2 float64 -0 0.05 ⌀ | action.right_arm_3f_finger_b_joint_1 float64 -0 0 ⌀ | action.right_arm_3f_finger_b_joint_3 float64 -0.05 0 ⌀ | action.right_arm_3f_finger_a_joint_1 float64 -0 0 ⌀ | action.right_arm_3f_finger_c_joint_1 float64 -0 0.05 ⌀ | action.right_arm_3f_finger_a_joint_3 float64 -0 0 ⌀ | action.left_arm_3f_finger_b_joint_3 float64 -0.05 0.05 ⌀ | action.right_arm_shoulder_lift_joint float64 -1.8 0.05 ⌀ | action.right_arm_shoulder_pan_joint float64 -0 0.05 ⌀ | action.right_arm_wrist_2_joint float64 -0 0.05 ⌀ | action.right_arm_elbow_joint float64 -1.82 0.05 ⌀ | action.left_arm_3f_finger_c_joint_3 float64 0 2.48 ⌀ | action.left_arm_shoulder_pan_joint float64 -0 0 ⌀ | action.left_arm_3f_finger_c_joint_2 float64 0 0.05 ⌀ | action.right_arm_3f_finger_c_joint_3 float64 0 0 ⌀ | action.right_arm_3f_palm_finger_c_joint float64 -0.05 0.02 ⌀ | action.left_arm_3f_finger_b_joint_2 float64 -0 0 ⌀ | action.left_arm_3f_finger_b_joint_1 float64 -0 0.05 ⌀ | action.left_arm_3f_palm_finger_b_joint float64 -0.05 0 ⌀ | action.left_arm_3f_finger_a_joint_2 float64 -0.05 -0.05 ⌀ | action.left_arm_3f_finger_a_joint_1 float64 -0.05 -0 ⌀ | action.left_arm_wrist_1_joint float64 -0.05 0.05 ⌀ | action.right_arm_wrist_1_joint float64 -0.05 0 ⌀ | action.left_arm_wrist_3_joint float64 -0.05 -0.05 ⌀ | observation.state.left_arm_wrist_2_joint float64 0 4.03 ⌀ | observation.state.left_arm_3f_finger_c_joint_1 float64 0.05 0.05 ⌀ | observation.state.right_arm_3f_palm_finger_b_joint float64 -0 0 ⌀ | observation.state.left_arm_3f_finger_a_joint_3 float64 -0.05 -0.05 ⌀ | observation.state.right_arm_wrist_3_joint float64 -0 0 ⌀ | observation.state.left_arm_elbow_joint float64 -0 0 ⌀ | observation.state.right_arm_3f_finger_b_joint_2 float64 -0 0 ⌀ | observation.state.left_arm_shoulder_lift_joint float64 -3.15 -3.15 ⌀ | observation.state.right_arm_3f_finger_c_joint_2 float64 -0 0 ⌀ | observation.state.left_arm_3f_palm_finger_c_joint float64 -0 0 ⌀ | observation.state.right_arm_3f_finger_a_joint_2 float64 -0.02 0.02 ⌀ | observation.state.right_arm_3f_finger_b_joint_1 float64 0.05 0.05 ⌀ | observation.state.right_arm_3f_finger_b_joint_3 float64 -0.05 -0.05 ⌀ | observation.state.right_arm_3f_finger_a_joint_1 float64 0.04 0.06 ⌀ | observation.state.right_arm_3f_finger_c_joint_1 float64 0.05 0.05 ⌀ | observation.state.right_arm_3f_finger_a_joint_3 float64 -0.05 -0.05 ⌀ | observation.state.left_arm_3f_finger_b_joint_3 float64 -0.05 -0.05 ⌀ | observation.state.right_arm_shoulder_lift_joint float64 -0 0.04 ⌀ | observation.state.right_arm_shoulder_pan_joint float64 -1.8 -0 ⌀ | observation.state.right_arm_wrist_2_joint float64 0 2.48 ⌀ | observation.state.right_arm_elbow_joint float64 -0.01 0 ⌀ | observation.state.left_arm_3f_finger_c_joint_3 float64 -0.05 -0.05 ⌀ | observation.state.left_arm_shoulder_pan_joint float64 -3.15 -1.4 ⌀ | observation.state.left_arm_3f_finger_c_joint_2 float64 -0 0 ⌀ | observation.state.right_arm_3f_finger_c_joint_3 float64 -0.05 -0.05 ⌀ | observation.state.right_arm_3f_palm_finger_c_joint float64 -0 0 ⌀ | observation.state.left_arm_3f_finger_b_joint_2 float64 -0 0 ⌀ | observation.state.left_arm_3f_finger_b_joint_1 float64 0.05 0.05 ⌀ | observation.state.left_arm_3f_palm_finger_b_joint float64 -0 0 ⌀ | observation.state.left_arm_3f_finger_a_joint_2 float64 -0 0 ⌀ | observation.state.left_arm_3f_finger_a_joint_1 float64 0.05 0.05 ⌀ | observation.state.left_arm_wrist_1_joint float64 -1.2 -0 ⌀ | observation.state.right_arm_wrist_1_joint float64 -1.82 0 ⌀ | observation.state.left_arm_wrist_3_joint float64 -0 0 ⌀ |
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End of preview. Expand in Data Studio
episode_0001_0_compressed
Robot manipulation dataset with 1 episodes.
Dataset Structure
- Episodes: 1 episodes of robot manipulation
- Cameras: 3 camera views (base, arm1, arm2)
- Joints: 34 joint states
- Format: LeRobot v2.1
Usage
from lerobot.common.datasets import LeRobotDataset
dataset = LeRobotDataset("Sraghvi/shrugmaster-robot-dataset")
Files
data/chunk-000/: Parquet files with episode datavideos/chunk-000/: MP4 video files for each camera (contains all image frames)meta/: Metadata files (info.json, episodes.jsonl, etc.)
Dataset Details
- Total Episodes: 1
- Total Frames: 327
- Average Episode Length: 327 frames
- FPS: 8.9 (calculated from real data)
- Robot Type: Bimanual arm with 34 joints
- Camera Resolution: 1280x720
- Video Codec: H.264
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