action listlengths 34 34 | observation.state listlengths 34 34 | isaac_commands listlengths 34 34 | timestamp float64 0 40.7 | frame_index int64 0 359 | episode_index int64 0 0 | index int64 0 359 | task_index int64 0 0 | joint_names listlengths 34 34 | joint_velocities listlengths 34 34 | action.arm1_shoulder_lift_joint float64 -1.41 -0.27 | action.arm1_elbow_joint float64 -0.29 -0.29 | action.arm1_wrist_1_joint float64 0.44 0.44 | action.arm1_wrist_2_joint float64 -0.18 -0.18 | action.arm2_wrist_3_joint float64 0.36 0.36 | action.arm1_wrist_3_joint float64 -0 0 | action.arm2_3f_finger_b_joint_3 float64 -0.24 0.91 | action.arm1_3f_finger_c_joint_3 float64 -0.1 -0.1 | action.arm2_3f_palm_finger_b_joint float64 -0.37 -0.37 | action.arm2_3f_finger_c_joint_3 float64 -0.29 -0.29 | action.arm2_3f_palm_finger_c_joint float64 -0.41 -0.41 | action.arm1_3f_finger_c_joint_2 float64 0 0 | action.arm2_3f_finger_a_joint_3 float64 0.05 0.05 | action.arm2_3f_finger_c_joint_2 float64 0 0 | action.arm1_3f_finger_b_joint_2 float64 -0.05 -0.05 | action.arm2_3f_finger_c_joint_1 float64 0 0 | action.arm2_wrist_2_joint float64 0.05 0.05 | action.arm1_shoulder_pan_joint float64 0 0 | action.arm1_3f_finger_c_joint_1 float64 -0.05 -0.05 | action.arm2_3f_finger_b_joint_1 float64 -0 0 | action.arm2_shoulder_pan_joint float64 0.05 0.05 | action.arm1_3f_finger_b_joint_3 float64 0 0 | action.arm1_3f_finger_b_joint_1 float64 -0.05 -0.05 | action.arm2_3f_finger_a_joint_2 float64 0.05 0.05 | action.arm1_3f_palm_finger_b_joint float64 0 0 | action.arm1_3f_finger_a_joint_3 float64 -0.05 -0.05 | action.arm2_elbow_joint float64 0 0 | action.arm1_3f_finger_a_joint_1 float64 0.05 0.05 | action.arm2_shoulder_lift_joint float64 0 0 | action.arm2_3f_finger_b_joint_2 float64 -0.05 -0.05 | action.arm2_3f_finger_a_joint_1 float64 -0 0 | action.arm1_3f_palm_finger_c_joint float64 0.05 0.05 | action.arm1_3f_finger_a_joint_2 float64 0 0 | action.arm2_wrist_1_joint float64 -0.05 -0.05 | observation.state.arm1_shoulder_lift_joint float64 -0.29 -0.29 | observation.state.arm1_elbow_joint float64 0.44 0.44 | observation.state.arm1_wrist_1_joint float64 -0.18 -0.18 | observation.state.arm1_wrist_2_joint float64 0.36 0.36 | observation.state.arm2_wrist_3_joint float64 0 0 | observation.state.arm1_wrist_3_joint float64 -0 0 | observation.state.arm2_3f_finger_b_joint_3 float64 -0.05 -0.05 | observation.state.arm1_3f_finger_c_joint_3 float64 -0.05 -0.05 | observation.state.arm2_3f_palm_finger_b_joint float64 0 0 | observation.state.arm2_3f_finger_c_joint_3 float64 -0.05 -0.05 | observation.state.arm2_3f_palm_finger_c_joint float64 0 0 | observation.state.arm1_3f_finger_c_joint_2 float64 -0 0 | observation.state.arm2_3f_finger_a_joint_3 float64 -0.05 -0.05 | observation.state.arm2_3f_finger_c_joint_2 float64 0 0 | observation.state.arm1_3f_finger_b_joint_2 float64 0 0 | observation.state.arm2_3f_finger_c_joint_1 float64 0.05 0.05 | observation.state.arm2_wrist_2_joint float64 -0.41 -0.41 | observation.state.arm1_shoulder_pan_joint float64 -1.42 -0.27 | observation.state.arm1_3f_finger_c_joint_1 float64 0.05 0.05 | observation.state.arm2_3f_finger_b_joint_1 float64 0.05 0.05 | observation.state.arm2_shoulder_pan_joint float64 -0.24 0.92 | observation.state.arm1_3f_finger_b_joint_3 float64 -0.05 -0.05 | observation.state.arm1_3f_finger_b_joint_1 float64 0.05 0.05 | observation.state.arm2_3f_finger_a_joint_2 float64 0 0 | observation.state.arm1_3f_palm_finger_b_joint float64 0 0 | observation.state.arm1_3f_finger_a_joint_3 float64 -0.05 -0.05 | observation.state.arm2_elbow_joint float64 -0.37 -0.37 | observation.state.arm1_3f_finger_a_joint_1 float64 0.05 0.05 | observation.state.arm2_shoulder_lift_joint float64 -0.1 -0.1 | observation.state.arm2_3f_finger_b_joint_2 float64 0 0 | observation.state.arm2_3f_finger_a_joint_1 float64 0.05 0.05 | observation.state.arm1_3f_palm_finger_c_joint float64 -0 0 | observation.state.arm1_3f_finger_a_joint_2 float64 0 0 | observation.state.arm2_wrist_1_joint float64 -0.29 -0.29 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
Shrugmaster Test
LeRobot v2.1 format dataset for robot manipulation.
Dataset Structure
- Episodes: 4 episodes of robot manipulation
- Total Frames: 1,440 frames
- Cameras: 3 camera views per episode
observation.images.base_camera_sensor_image_rawobservation.images.arm1_camera_sensor_image_rawobservation.images.arm2_camera_sensor_image_raw
- Robot: Bimanual manipulator with 34 joints
- Format: LeRobot v2.1
Usage with LeRobot
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
dataset = LeRobotDataset("Sraghvi/shrugmaster-test")
Dataset Format
This dataset follows the LeRobot v2.1 format:
shrugmaster-test/
├── data/
│ └── chunk-000/
│ ├── episode_000000.parquet
│ ├── episode_000001.parquet
│ ├── episode_000002.parquet
│ └── episode_000003.parquet
├── videos/
│ └── chunk-000/
│ ├── observation.images.base_camera_sensor_image_raw/
│ │ ├── episode_000000.mp4
│ │ ├── episode_000001.mp4
│ │ ├── episode_000002.mp4
│ │ └── episode_000003.mp4
│ ├── observation.images.arm1_camera_sensor_image_raw/
│ │ └── ... (same episodes)
│ └── observation.images.arm2_camera_sensor_image_raw/
│ └── ... (same episodes)
├── meta/
│ ├── info.json
│ ├── episodes.jsonl
│ ├── tasks.jsonl
│ └── episodes_stats.jsonl
└── README.md
Dataset Details
- Total Episodes: 4
- Total Frames: 1,440
- Average Episode Length: 360 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
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