Dataset Viewer
action
listlengths 34
34
⌀ | observation.state
listlengths 34
34
⌀ | isaac_commands
listlengths 34
34
⌀ | timestamp
float64 0
32.9
⌀ | frame_index
int64 0
547
⌀ | episode_index
int64 0
0
⌀ | index
int64 0
547
⌀ | task_index
int64 0
0
⌀ | joint_names
listlengths 34
34
⌀ | joint_velocities
listlengths 34
34
⌀ | action.left_arm_wrist_2_joint
float64 -3.15
-0.1
⌀ | action.left_arm_3f_finger_c_joint_1
float64 -3.15
0
⌀ | action.right_arm_3f_palm_finger_b_joint
float64 -3.15
0
⌀ | action.left_arm_3f_finger_a_joint_3
float64 0
0
⌀ | action.right_arm_wrist_3_joint
float64 0
0
⌀ | action.left_arm_elbow_joint
float64 -0
0
⌀ | action.right_arm_3f_finger_b_joint_2
float64 0
0.05
⌀ | action.left_arm_shoulder_lift_joint
float64 -0
0
⌀ | action.right_arm_3f_finger_c_joint_2
float64 -0.05
0
⌀ | action.left_arm_3f_palm_finger_c_joint
float64 -0
0
⌀ | action.right_arm_3f_finger_a_joint_2
float64 -0
0.05
⌀ | 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
0.05
⌀ | action.right_arm_3f_finger_a_joint_3
float64 0
0
⌀ | action.left_arm_3f_finger_b_joint_3
float64 -0.05
0.05
⌀ | action.right_arm_shoulder_lift_joint
float64 -0
0.05
⌀ | action.right_arm_shoulder_pan_joint
float64 -0
0.05
⌀ | action.right_arm_wrist_2_joint
float64 -0
0.05
⌀ | action.right_arm_elbow_joint
float64 -0
0.05
⌀ | action.left_arm_3f_finger_c_joint_3
float64 -0
0.05
⌀ | action.left_arm_shoulder_pan_joint
float64 -0
0
⌀ | action.left_arm_3f_finger_c_joint_2
float64 0
0.05
⌀ | action.right_arm_3f_finger_c_joint_3
float64 0
0
⌀ | action.right_arm_3f_palm_finger_c_joint
float64 -0.05
0
⌀ | action.left_arm_3f_finger_b_joint_2
float64 0
0
⌀ | action.left_arm_3f_finger_b_joint_1
float64 0
0.05
⌀ | 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
0.05
⌀ | 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
0
⌀ | observation.state.left_arm_3f_finger_c_joint_1
float64 0.05
0.05
⌀ | 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 -3.15
0
⌀ | observation.state.right_arm_3f_finger_c_joint_2
float64 0
0
⌀ | observation.state.left_arm_3f_palm_finger_c_joint
float64 -0
0
⌀ | observation.state.right_arm_3f_finger_a_joint_2
float64 0
0
⌀ | observation.state.right_arm_3f_finger_b_joint_1
float64 0.05
0.05
⌀ | observation.state.right_arm_3f_finger_b_joint_3
float64 -0.05
-0.05
⌀ | observation.state.right_arm_3f_finger_a_joint_1
float64 0.05
0.05
⌀ | observation.state.right_arm_3f_finger_c_joint_1
float64 0.05
0.05
⌀ | 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
⌀ | observation.state.right_arm_shoulder_pan_joint
float64 0
0
⌀ | observation.state.right_arm_wrist_2_joint
float64 0
0
⌀ | observation.state.right_arm_elbow_joint
float64 0
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
0
⌀ | 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
0.05
⌀ | 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
0.05
⌀ | observation.state.left_arm_wrist_1_joint
float64 0
0
⌀ | observation.state.right_arm_wrist_1_joint
float64 -0
0
⌀ | observation.state.left_arm_wrist_3_joint
float64 -0
0
⌀ |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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[
"left_arm_wrist_2_joint",
"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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[
"left_arm_wrist_2_joint",
"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",
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"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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[
"left_arm_wrist_2_joint",
"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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End of preview. Expand
in Data Studio
BUSTER_Cube_Pickup_Task
Robot manipulation dataset with 1 episodes.
Dataset Structure
- Episodes: 1 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: 1
- Total Frames: 548
- Average Episode Length: 548 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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