action
list | observation.state
list | observation
dict | isaac_commands
list | timestamp
float64 | frame_index
int64 | episode_index
int64 | index
int64 | task_index
int64 | joint_names
list | joint_velocities
list | action.left_arm_wrist_2_joint
float64 | action.left_arm_3f_finger_c_joint_1
float64 | action.right_arm_3f_palm_finger_b_joint
float64 | action.left_arm_3f_finger_a_joint_3
float64 | action.right_arm_wrist_3_joint
float64 | action.left_arm_elbow_joint
float64 | action.right_arm_3f_finger_b_joint_2
float64 | action.left_arm_shoulder_lift_joint
float64 | action.right_arm_3f_finger_c_joint_2
float64 | action.left_arm_3f_palm_finger_c_joint
float64 | action.right_arm_3f_finger_a_joint_2
float64 | action.right_arm_3f_finger_b_joint_1
float64 | action.right_arm_3f_finger_b_joint_3
float64 | action.right_arm_3f_finger_a_joint_1
float64 | action.right_arm_3f_finger_c_joint_1
float64 | action.right_arm_3f_finger_a_joint_3
float64 | action.left_arm_3f_finger_b_joint_3
float64 | action.right_arm_shoulder_lift_joint
float64 | action.right_arm_shoulder_pan_joint
float64 | action.right_arm_wrist_2_joint
float64 | action.right_arm_elbow_joint
float64 | action.left_arm_3f_finger_c_joint_3
float64 | action.left_arm_shoulder_pan_joint
float64 | action.left_arm_3f_finger_c_joint_2
float64 | action.right_arm_3f_finger_c_joint_3
float64 | action.right_arm_3f_palm_finger_c_joint
float64 | action.left_arm_3f_finger_b_joint_2
float64 | action.left_arm_3f_finger_b_joint_1
float64 | action.left_arm_3f_palm_finger_b_joint
float64 | action.left_arm_3f_finger_a_joint_2
float64 | action.left_arm_3f_finger_a_joint_1
float64 | action.left_arm_wrist_1_joint
float64 | action.right_arm_wrist_1_joint
float64 | action.left_arm_wrist_3_joint
float64 | observation.state.left_arm_wrist_2_joint
float64 | observation.state.left_arm_3f_finger_c_joint_1
float64 | observation.state.right_arm_3f_palm_finger_b_joint
float64 | observation.state.left_arm_3f_finger_a_joint_3
float64 | observation.state.right_arm_wrist_3_joint
float64 | observation.state.left_arm_elbow_joint
float64 | observation.state.right_arm_3f_finger_b_joint_2
float64 | observation.state.left_arm_shoulder_lift_joint
float64 | observation.state.right_arm_3f_finger_c_joint_2
float64 | observation.state.left_arm_3f_palm_finger_c_joint
float64 | observation.state.right_arm_3f_finger_a_joint_2
float64 | observation.state.right_arm_3f_finger_b_joint_1
float64 | observation.state.right_arm_3f_finger_b_joint_3
float64 | observation.state.right_arm_3f_finger_a_joint_1
float64 | observation.state.right_arm_3f_finger_c_joint_1
float64 | observation.state.right_arm_3f_finger_a_joint_3
float64 | observation.state.left_arm_3f_finger_b_joint_3
float64 | observation.state.right_arm_shoulder_lift_joint
float64 | observation.state.right_arm_shoulder_pan_joint
float64 | observation.state.right_arm_wrist_2_joint
float64 | observation.state.right_arm_elbow_joint
float64 | observation.state.left_arm_3f_finger_c_joint_3
float64 | observation.state.left_arm_shoulder_pan_joint
float64 | observation.state.left_arm_3f_finger_c_joint_2
float64 | observation.state.right_arm_3f_finger_c_joint_3
float64 | observation.state.right_arm_3f_palm_finger_c_joint
float64 | observation.state.left_arm_3f_finger_b_joint_2
float64 | observation.state.left_arm_3f_finger_b_joint_1
float64 | observation.state.left_arm_3f_palm_finger_b_joint
float64 | observation.state.left_arm_3f_finger_a_joint_2
float64 | observation.state.left_arm_3f_finger_a_joint_1
float64 | observation.state.left_arm_wrist_1_joint
float64 | observation.state.right_arm_wrist_1_joint
float64 | observation.state.left_arm_wrist_3_joint
float64 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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[
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"left_arm_3f_finger_c_joint_1",
"right_arm_3f_palm_finger_b_joint",
"left_arm_3f_finger_a_joint_3",
"right_arm_wrist_3_joint",
"left_arm_elbow_joint",
"right_arm_3f_finger_b_joint_2",
"left_arm_shoulder_lift_joint",
"right_arm_3f_finger_c_joint_2",
"left_arm_3f_palm_finger_c_joint",
"right_arm_3f_finger_a_joint_2",
"right_arm_3f_finger_b_joint_1",
"right_arm_3f_finger_b_joint_3",
"right_arm_3f_finger_a_joint_1",
"right_arm_3f_finger_c_joint_1",
"right_arm_3f_finger_a_joint_3",
"left_arm_3f_finger_b_joint_3",
"right_arm_shoulder_lift_joint",
"right_arm_shoulder_pan_joint",
"right_arm_wrist_2_joint",
"right_arm_elbow_joint",
"left_arm_3f_finger_c_joint_3",
"left_arm_shoulder_pan_joint",
"left_arm_3f_finger_c_joint_2",
"right_arm_3f_finger_c_joint_3",
"right_arm_3f_palm_finger_c_joint",
"left_arm_3f_finger_b_joint_2",
"left_arm_3f_finger_b_joint_1",
"left_arm_3f_palm_finger_b_joint",
"left_arm_3f_finger_a_joint_2",
"left_arm_3f_finger_a_joint_1",
"left_arm_wrist_1_joint",
"right_arm_wrist_1_joint",
"left_arm_wrist_3_joint"
] |
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| 1
| 0
| 1
| 0
|
[
"left_arm_shoulder_pan_joint",
"right_arm_shoulder_pan_joint",
"left_arm_shoulder_lift_joint",
"right_arm_shoulder_lift_joint",
"left_arm_elbow_joint",
"right_arm_elbow_joint",
"left_arm_wrist_1_joint",
"right_arm_wrist_1_joint",
"left_arm_wrist_2_joint",
"right_arm_wrist_2_joint",
"left_arm_wrist_3_joint",
"right_arm_wrist_3_joint",
"left_arm_3f_palm_finger_b_joint",
"left_arm_3f_palm_finger_c_joint",
"right_arm_3f_palm_finger_b_joint",
"right_arm_3f_palm_finger_c_joint",
"left_arm_3f_finger_a_joint_1",
"left_arm_3f_finger_b_joint_1",
"left_arm_3f_finger_c_joint_1",
"right_arm_3f_finger_a_joint_1",
"right_arm_3f_finger_b_joint_1",
"right_arm_3f_finger_c_joint_1",
"left_arm_3f_finger_a_joint_2",
"left_arm_3f_finger_b_joint_2",
"left_arm_3f_finger_c_joint_2",
"right_arm_3f_finger_a_joint_2",
"right_arm_3f_finger_b_joint_2",
"right_arm_3f_finger_c_joint_2",
"left_arm_3f_finger_a_joint_3",
"left_arm_3f_finger_b_joint_3",
"left_arm_3f_finger_c_joint_3",
"right_arm_3f_finger_a_joint_3",
"right_arm_3f_finger_b_joint_3",
"right_arm_3f_finger_c_joint_3"
] |
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] | 0.064064
| 2
| 0
| 2
| 0
|
[
"left_arm_shoulder_pan_joint",
"right_arm_shoulder_pan_joint",
"left_arm_shoulder_lift_joint",
"right_arm_shoulder_lift_joint",
"left_arm_elbow_joint",
"right_arm_elbow_joint",
"left_arm_wrist_1_joint",
"right_arm_wrist_1_joint",
"left_arm_wrist_2_joint",
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| 3
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[
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"left_arm_3f_finger_a_joint_1",
"left_arm_wrist_1_joint",
"right_arm_wrist_1_joint",
"left_arm_wrist_3_joint"
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| 4
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| 4
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|
[
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"left_arm_shoulder_lift_joint",
"right_arm_shoulder_lift_joint",
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"right_arm_3f_finger_a_joint_3",
"right_arm_3f_finger_b_joint_3",
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| 5
| 0
| 5
| 0
|
[
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"right_arm_shoulder_pan_joint",
"left_arm_shoulder_lift_joint",
"right_arm_shoulder_lift_joint",
"left_arm_elbow_joint",
"right_arm_elbow_joint",
"left_arm_wrist_1_joint",
"right_arm_wrist_1_joint",
"left_arm_wrist_2_joint",
"right_arm_wrist_2_joint",
"left_arm_wrist_3_joint",
"right_arm_wrist_3_joint",
"left_arm_3f_palm_finger_b_joint",
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"right_arm_3f_palm_finger_b_joint",
"right_arm_3f_palm_finger_c_joint",
"left_arm_3f_finger_a_joint_1",
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[
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"right_arm_3f_finger_a_joint_2",
"right_arm_3f_finger_b_joint_1",
"right_arm_3f_finger_b_joint_3",
"right_arm_3f_finger_a_joint_1",
"right_arm_3f_finger_c_joint_1",
"right_arm_3f_finger_a_joint_3",
"left_arm_3f_finger_b_joint_3",
"right_arm_shoulder_lift_joint",
"right_arm_shoulder_pan_joint",
"right_arm_wrist_2_joint",
"right_arm_elbow_joint",
"left_arm_3f_finger_c_joint_3",
"left_arm_shoulder_pan_joint",
"left_arm_3f_finger_c_joint_2",
"right_arm_3f_finger_c_joint_3",
"right_arm_3f_palm_finger_c_joint",
"left_arm_3f_finger_b_joint_2",
"left_arm_3f_finger_b_joint_1",
"left_arm_3f_palm_finger_b_joint",
"left_arm_3f_finger_a_joint_2",
"left_arm_3f_finger_a_joint_1",
"left_arm_wrist_1_joint",
"right_arm_wrist_1_joint",
"left_arm_wrist_3_joint"
] |
[
"-0.0001",
"-0.0062",
"0.0016",
"-0.0001",
"0.0",
"0.0016",
"0.0003",
"0.0144",
"0.0005",
"-0.003",
"0.0",
"0.0042",
"0.0001",
"-0.0045",
"0.0035",
"0.0",
"-0.0001",
"-0.008",
"0.0",
"0.0",
"-0.0008",
"-0.0002",
"-0.0001",
"-0.0008",
"0.0001",
"0.0014",
"-0.0005",
"-0.0077",
"-0.0028",
"0.0",
"0.0082",
"0.0041",
"-0.002",
"0.0004"
] | -3.14659
| -3.146552
| 0.00008
| -0.000051
| 0.000012
| 0.000078
| 0.0495
| 0.000065
| -0.0523
| 0.000036
| 0.0495
| 0.000017
| -0.0523
| 0.000009
| 0.0495
| 0.000052
| -0.0523
| -0.000065
| 0.000023
| -0.000029
| -0.000031
| 0.000066
| 0.000086
| 0.0495
| 0.000077
| -0.0523
| -0.000082
| 0.0495
| 0.000041
| -0.0523
| -0.000091
| 0.0495
| 0.000031
| -0.0523
| 0
| 0.0495
| -0.0001
| -0.0523
| 0.0001
| 0.0001
| 0
| -3.1466
| 0
| 0
| 0.0001
| 0.0495
| -0.0523
| 0.0495
| 0.0495
| -0.0523
| -0.0523
| 0
| -0.0001
| 0.0001
| 0
| -0.0523
| -3.1466
| 0.0001
| -0.0523
| -0.0001
| 0
| 0.0495
| 0
| 0.0001
| 0.0495
| -0.0001
| 0
| 0.0001
|
End of preview. Expand
in Data Studio
episode_0001_0_v21
Robot manipulation dataset with 2 episodes.
Dataset Structure
- Episodes: 2 episodes of robot manipulation
- Cameras: 3 camera views (base, arm1, arm2)
- Joints: 34 joint states
- Format: LeRobot v2.1
Usage
from lerobot.common.datasets import LeRobotDataset
dataset = LeRobotDataset("Sraghvi/shrugmaster-robot-dataset")
Files
data/chunk-000/: Parquet files with episode datavideos/chunk-000/: MP4 video files for each camera (contains all image frames)meta/: Metadata files (info.json, episodes.jsonl, etc.)
Dataset Details
- Total Episodes: 2
- Total Frames: 654
- Average Episode Length: 327 frames
- FPS: 8.9 (calculated from real data)
- Robot Type: Bimanual arm with 34 joints
- Camera Resolution: 1280x720
- Video Codec: H.264
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