README.md

---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
configs:
- config_name: default
  data_files:
  - split: train
    path: data/chunk-000/episode_*.parquet
dataset_info:
  features:
  - name: timestamp
    dtype: float64
  - name: frame_index
    dtype: int64
  - name: episode_index
    dtype: int64
  - name: index
    dtype: int64
  - name: task_index
    dtype: int64
  - name: observation.state
    sequence:
      dtype: float64
      length: 7
  - name: observation.velocity
    sequence:
      dtype: float64
      length: 7
  - name: observation.effort
    sequence:
      dtype: float64
      length: 7
  - name: observation.weight
    sequence:
      dtype: float64
      length: 1
  - name: action
    sequence:
      dtype: float64
      length: 7
  splits:
  - name: train
    num_bytes: 16603644
    num_examples: 120000
  download_size: 16603644
  dataset_size: 16603644
---

# FR5 Garlic Manipulation Dataset

This dataset contains demonstrations collected on an FR5 robot teleoperated to manipulate garlic. Each episode pairs synchronized joint trajectories (`observation.state`, `action`) with base and wrist camera videos. The layout follows the LeRobot dataset convention with chunked parquet files and per-camera mp4 streams.

## Dataset Details

- **Total Episodes**: 100
- **Total Frames**: 120,000
- **FPS**: ~30.01 Hz
- **Episode Length**: ~1200 frames per episode
- **Task**: Garlic pick and place manipulation

## Data Structure

Each episode contains:
- **Joint States** (`observation.state`): 7D joint positions (6 arm joints + 1 gripper) in radians
- **Actions** (`action`): 7D target joint positions (6 arm joints + 1 gripper) in radians
- **Additional Observations**: velocity, effort, and weight measurements
- **Videos**: Synchronized base and wrist camera videos (MP4 format)
- **Metadata**: Timestamps, frame indices, episode indices, and task indices

## File Structure

```
demos_garlic_mod/
├── data/
│   └── chunk-000/
│       └── episode_*.parquet
├── videos/
│   └── chunk-000/
│       ├── observation.images.cam_base/
│       │   └── episode_*.mp4
│       ├── observation.images.cam_wrist/
│       │   └── episode_*.mp4
└── meta/
    ├── info.json
    ├── episodes.jsonl
    ├── episodes_stats.jsonl
    └── tasks.jsonl
```

## Usage

This dataset is compatible with the LeRobot framework and can be loaded using standard LeRobot data loaders for training imitation learning models.