ry-5/garlic_visualized_new

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: 41
• Total Frames: 49,200
• FPS: ~57.76 Hz
• Episode Length: 1,200 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 (224×224×3, MP4 format)
• Metadata: Timestamps, frame indices, episode indices, and task indices

File Structure

demos_garlic_train/
├── 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.