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Datasets:
Sraghvi
/
buster_real_lerobot_format

Tasks:
Robotics
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parquet
Languages:
English
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Tags:
robotics
lerobot
manipulation
bimanual
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action
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observation.state
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isaac_commands
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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", "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", "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", "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", "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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buster_real_lerobot_format

LeRobot v2.1 format dataset for robot manipulation.

Dataset Structure

  • Episodes: 1 episodes of robot manipulation
  • Total Frames: 605 frames
  • Cameras: 3 camera views per episode
    • observation.images.base_camera_sensor_image_raw
    • observation.images.arm1_camera_sensor_image_raw
    • observation.images.arm2_camera_sensor_image_raw
  • Robot: Bimanual manipulator with 34 joints
  • Format: LeRobot v2.1

Usage with LeRobot 

from lerobot.common.datasets.lerobot_dataset import LeRobotDataset

dataset = LeRobotDataset("Sraghvi/shrugmaster-test")

Dataset Format

This dataset follows the LeRobot v2.1 format:

  • data/chunk-000/: Parquet files containing episode data
  • videos/chunk-000/: MP4 video files for each camera view
  • meta/: Metadata files
    • info.json: Dataset configuration and feature descriptions
    • episodes.jsonl: Episode metadata
    • tasks.jsonl: Task descriptions
    • episodes_stats.jsonl: Dataset statistics

Dataset Details

  • Total Episodes: 1
  • Total Frames: 605
  • Average Episode Length: 605 frames
  • FPS: ~9 (calculated from real data)
  • Robot Type: Bimanual arm with 34 joints
  • Camera Resolution: 1280x720
  • Video Codec: H.264

Features

  • Action: Robot action commands with individual joint columns
  • Observation State: Robot state observations with individual joint columns
  • Isaac Commands: Simulation commands
  • Timestamp: Frame timestamps
  • Episode/Frame/Task Indices: Data organization
  • Joint Names: Names of all robot joints
  • Joint Velocities: Velocity data for all joints
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Number of rows:
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