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--- |
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license: mit |
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task_categories: |
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- robotics |
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language: |
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- en |
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tags: |
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- robotics |
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- lerobot |
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- manipulation |
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- bimanual |
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size_categories: |
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- 1K<n<10K |
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pretty_name: corrected-mapping |
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configs: |
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- config_name: default |
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data_files: |
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- split: train |
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path: "data/chunk-000/episode_*.parquet" |
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--- |
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# corrected-mapping |
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LeRobot v2.1 format dataset for robot manipulation. |
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## Dataset Structure |
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- **Episodes**: 1 episodes of robot manipulation |
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- **Total Frames**: 327 frames |
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- **Cameras**: 3 camera views per episode |
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- `observation.images.base_camera_sensor_image_raw` |
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- `observation.images.arm1_camera_sensor_image_raw` |
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- `observation.images.arm2_camera_sensor_image_raw` |
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- **Robot**: Bimanual manipulator with 34 joints |
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- **Format**: LeRobot v2.1 |
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## Usage with LeRobot |
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```python |
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from lerobot.common.datasets.lerobot_dataset import LeRobotDataset |
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dataset = LeRobotDataset("Sraghvi/shrugmaster-test") |
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``` |
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## Dataset Format |
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This dataset follows the LeRobot v2.1 format: |
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- `data/chunk-000/`: Parquet files containing episode data |
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- `videos/chunk-000/`: MP4 video files for each camera view |
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- `meta/`: Metadata files |
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- `info.json`: Dataset configuration and feature descriptions |
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- `episodes.jsonl`: Episode metadata |
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- `tasks.jsonl`: Task descriptions |
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- `episodes_stats.jsonl`: Dataset statistics |
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## Dataset Details |
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- **Total Episodes**: 1 |
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- **Total Frames**: 327 |
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- **Average Episode Length**: 327 frames |
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- **FPS**: ~9 (calculated from real data) |
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- **Robot Type**: Bimanual arm with 34 joints |
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- **Camera Resolution**: 1280x720 |
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- **Video Codec**: H.264 |
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## Features |
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- **Action**: Robot action commands with individual joint columns |
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- **Observation State**: Robot state observations with individual joint columns |
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- **Isaac Commands**: Simulation commands |
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- **Timestamp**: Frame timestamps |
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- **Episode/Frame/Task Indices**: Data organization |
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- **Joint Names**: Names of all robot joints |
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- **Joint Velocities**: Velocity data for all joints |
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