---
license: mit
task_categories:
  - robotics
language:
  - en
tags:
  - robotics
  - lerobot
  - manipulation
  - bimanual
size_categories:
  - 1K<n<10K
pretty_name: exact_lerobot_format
configs:
- config_name: default
  data_files:
  - split: train
    path: "data/chunk-000/episode_*.parquet"
---

# exact_lerobot_format

LeRobot v2.1 format dataset for robot manipulation.

## Dataset Structure

- **Episodes**: 1 episodes of robot manipulation
- **Total Frames**: 50 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

```python
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**: 50
- **Average Episode Length**: 50 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