action list | observation.state list | observation dict | isaac_commands list | timestamp float64 | frame_index int64 | episode_index int64 | index int64 | task_index int64 | joint_names list | joint_velocities list | action.left_arm_wrist_2_joint float64 | action.left_arm_3f_finger_c_joint_1 float64 | action.right_arm_3f_palm_finger_b_joint float64 | action.left_arm_3f_finger_a_joint_3 float64 | action.right_arm_wrist_3_joint float64 | action.left_arm_elbow_joint float64 | action.right_arm_3f_finger_b_joint_2 float64 | action.left_arm_shoulder_lift_joint float64 | action.right_arm_3f_finger_c_joint_2 float64 | action.left_arm_3f_palm_finger_c_joint float64 | action.right_arm_3f_finger_a_joint_2 float64 | action.right_arm_3f_finger_b_joint_1 float64 | action.right_arm_3f_finger_b_joint_3 float64 | action.right_arm_3f_finger_a_joint_1 float64 | action.right_arm_3f_finger_c_joint_1 float64 | action.right_arm_3f_finger_a_joint_3 float64 | action.left_arm_3f_finger_b_joint_3 float64 | action.right_arm_shoulder_lift_joint float64 | action.right_arm_shoulder_pan_joint float64 | action.right_arm_wrist_2_joint float64 | action.right_arm_elbow_joint float64 | action.left_arm_3f_finger_c_joint_3 float64 | action.left_arm_shoulder_pan_joint float64 | action.left_arm_3f_finger_c_joint_2 float64 | action.right_arm_3f_finger_c_joint_3 float64 | action.right_arm_3f_palm_finger_c_joint float64 | action.left_arm_3f_finger_b_joint_2 float64 | action.left_arm_3f_finger_b_joint_1 float64 | action.left_arm_3f_palm_finger_b_joint float64 | action.left_arm_3f_finger_a_joint_2 float64 | action.left_arm_3f_finger_a_joint_1 float64 | action.left_arm_wrist_1_joint float64 | action.right_arm_wrist_1_joint float64 | action.left_arm_wrist_3_joint float64 | observation.state.left_arm_wrist_2_joint float64 | observation.state.left_arm_3f_finger_c_joint_1 float64 | observation.state.right_arm_3f_palm_finger_b_joint float64 | observation.state.left_arm_3f_finger_a_joint_3 float64 | observation.state.right_arm_wrist_3_joint float64 | observation.state.left_arm_elbow_joint float64 | observation.state.right_arm_3f_finger_b_joint_2 float64 | observation.state.left_arm_shoulder_lift_joint float64 | observation.state.right_arm_3f_finger_c_joint_2 float64 | observation.state.left_arm_3f_palm_finger_c_joint float64 | observation.state.right_arm_3f_finger_a_joint_2 float64 | observation.state.right_arm_3f_finger_b_joint_1 float64 | observation.state.right_arm_3f_finger_b_joint_3 float64 | observation.state.right_arm_3f_finger_a_joint_1 float64 | observation.state.right_arm_3f_finger_c_joint_1 float64 | observation.state.right_arm_3f_finger_a_joint_3 float64 | observation.state.left_arm_3f_finger_b_joint_3 float64 | observation.state.right_arm_shoulder_lift_joint float64 | observation.state.right_arm_shoulder_pan_joint float64 | observation.state.right_arm_wrist_2_joint float64 | observation.state.right_arm_elbow_joint float64 | observation.state.left_arm_3f_finger_c_joint_3 float64 | observation.state.left_arm_shoulder_pan_joint float64 | observation.state.left_arm_3f_finger_c_joint_2 float64 | observation.state.right_arm_3f_finger_c_joint_3 float64 | observation.state.right_arm_3f_palm_finger_c_joint float64 | observation.state.left_arm_3f_finger_b_joint_2 float64 | observation.state.left_arm_3f_finger_b_joint_1 float64 | observation.state.left_arm_3f_palm_finger_b_joint float64 | observation.state.left_arm_3f_finger_a_joint_2 float64 | observation.state.left_arm_3f_finger_a_joint_1 float64 | observation.state.left_arm_wrist_1_joint float64 | observation.state.right_arm_wrist_1_joint float64 | observation.state.left_arm_wrist_3_joint float64 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
episode_0001_0_v21
Robot manipulation dataset with 2 episodes.
Dataset Structure
- Episodes: 2 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: 2
- Total Frames: 654
- 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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