action listlengths 34 34 | observation.state listlengths 34 34 | isaac_commands listlengths 34 34 | timestamp float64 0 135 | frame_index int64 0 1.77k | episode_index int64 0 0 | index int64 0 1.77k | task_index int64 0 0 | joint_names listlengths 34 34 | joint_velocities listlengths 34 34 | sensor.left_arm_camera_sensor_camera_info.width float64 640 640 | sensor.left_arm_camera_sensor_camera_info.height float64 480 480 | sensor.left_arm_camera_sensor_camera_info.k_0 float64 309 309 | sensor.left_arm_camera_sensor_camera_info.k_1 float64 0 0 | sensor.left_arm_camera_sensor_camera_info.k_2 float64 320 320 | sensor.left_arm_camera_sensor_camera_info.k_3 float64 0 0 | sensor.left_arm_camera_sensor_camera_info.k_4 float64 309 309 | sensor.left_arm_camera_sensor_camera_info.k_5 float64 240 240 | sensor.left_arm_camera_sensor_camera_info.k_6 float64 0 0 | sensor.left_arm_camera_sensor_camera_info.k_7 float64 0 0 | sensor.left_arm_camera_sensor_camera_info.k_8 float64 1 1 | 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sensor.right_arm_camera_sensor_camera_info.k_3 float64 0 0 | sensor.right_arm_camera_sensor_camera_info.k_4 float64 309 309 | sensor.right_arm_camera_sensor_camera_info.k_5 float64 240 240 | sensor.right_arm_camera_sensor_camera_info.k_6 float64 0 0 | sensor.right_arm_camera_sensor_camera_info.k_7 float64 0 0 | sensor.right_arm_camera_sensor_camera_info.k_8 float64 1 1 | sensor.right_arm_camera_sensor_camera_info.d_0 float64 0 0 | sensor.right_arm_camera_sensor_camera_info.d_1 float64 0 0 | sensor.right_arm_camera_sensor_camera_info.d_2 float64 0 0 | sensor.right_arm_camera_sensor_camera_info.d_3 float64 0 0 | sensor.right_arm_camera_sensor_camera_info.d_4 float64 0 0 | sensor.base_camera_sensor_camera_info.width float64 1.28k 1.28k | sensor.base_camera_sensor_camera_info.height float64 720 720 | sensor.base_camera_sensor_camera_info.k_0 float64 634 634 | sensor.base_camera_sensor_camera_info.k_1 float64 0 0 | sensor.base_camera_sensor_camera_info.k_2 float64 640 640 | 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action.left_arm_shoulder_lift_joint float64 -1.89 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 0.25 | 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 0.25 | action.right_arm_3f_finger_a_joint_3 float64 -0 0 | action.left_arm_3f_finger_b_joint_3 float64 -0.05 0.24 | action.right_arm_shoulder_lift_joint float64 -1.8 0.25 | action.right_arm_shoulder_pan_joint float64 -0 0.25 | action.right_arm_wrist_2_joint float64 -0 0.25 | action.right_arm_elbow_joint float64 -1.87 0.24 | 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 0.25 | 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 -0.01 0.24 | 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 0.25 | 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 0.25 | 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 -3.49 -3.15 | observation.state.right_arm_3f_finger_c_joint_2 float64 -0.01 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 0.24 | 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 0.25 | observation.state.right_arm_3f_finger_c_joint_1 float64 0.05 0.25 | 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 0.25 | 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 0.24 | observation.state.left_arm_wrist_1_joint float64 -1.22 0 | observation.state.right_arm_wrist_1_joint float64 -1.9 0 | observation.state.left_arm_wrist_3_joint float64 -0 0 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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0.000... | 640 | 480 | 308.829575 | 0 | 320 | 0 | 308.829575 | 240 | 0 | 0 | 1 | 0 | 0 | 0 | 0 | 0 | 0.02 | 0 | 0 | 0 | 0 | 0.024747 | 0.999694 | 440 | 300,022,963 | 640 | 480 | 308.829575 | 0 | 320 | 0 | 308.829575 | 240 | 0 | 0 | 1 | 0 | 0 | 0 | 0 | 0 | 1,280 | 720 | 634.08624 | 0 | 640 | 0 | 634.08624 | 360 | 0 | 0 | 1 | 0 | 0 | 0 | 0 | 0 | -3.146595 | -3.146605 | -0.00005 | 0.000072 | -0.000098 | 0.000084 | 0.0495 | 0.000072 | -0.0523 | 0.000051 | 0.0495 | 0.000058 | -0.0523 | -0.000052 | 0.0495 | 0.000071 | -0.0523 | -0.000041 | 0.000008 | 0.000024 | -0.000077 | 0.000083 | 0.000023 | 0.0495 | 0.000003 | -0.0523 | -0.000087 | 0.0495 | 0.000086 | -0.0523 | 0.000099 | 0.0495 | 0.000099 | -0.0523 | -0.0001 | 0.0495 | -0.0001 | -0.0523 | 0 | -0.0001 | 0.0001 | -3.1466 | 0.0001 | 0 | 0 | 0.0495 | -0.0523 | 0.0495 | 0.0495 | -0.0523 | -0.0523 | 0 | 0 | 0.0001 | 0 | -0.0523 | -3.1466 | 0.0001 | -0.0523 | 0.0001 | 0.0001 | 0.0495 | 0.0001 | 0.0001 | 0.0495 | 0.0001 | -0.0001 | 0.0001 |
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20251021_142737_Buster_Pickup_Cube
LeRobot v2.1 format dataset for robot manipulation.
Dataset Structure
- Episodes: 5 episodes of robot manipulation
- Total Frames: 4189 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:
data/chunk-000/: Parquet files containing episode datavideos/chunk-000/: MP4 video files for each camera viewmeta/: Metadata filesinfo.json: Dataset configuration and feature descriptionsepisodes.jsonl: Episode metadatatasks.jsonl: Task descriptionsepisodes_stats.jsonl: Dataset statistics
Dataset Details
- Total Episodes: 5
- Total Frames: 4189
- Average Episode Length: 838 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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