Datasets:
test_v3_upload
Teleoperation dataset: pick up the grey cube and hand it to another hand
Collected with limb on yam arms.
Dataset summary
| Field | Value |
|---|---|
| Robot | yam |
| Episodes | 10 |
| Total frames | 10,958 |
| FPS | 30 Hz |
| Task | pick up the grey cube and hand it to another hand |
| Format | LeRobot v3.0 |
Cameras
| Name |
|---|
head_camera |
left_wrist_camera |
right_wrist_camera |
Video codec: hevc.
State space (observation.state, shape [14])
| Index | Name |
|---|---|
| 0 | left_joint_0 |
| 1 | left_joint_1 |
| 2 | left_joint_2 |
| 3 | left_joint_3 |
| 4 | left_joint_4 |
| 5 | left_joint_5 |
| 6 | left_gripper |
| 7 | right_joint_0 |
| 8 | right_joint_1 |
| 9 | right_joint_2 |
| 10 | right_joint_3 |
| 11 | right_joint_4 |
| 12 | right_joint_5 |
| 13 | right_gripper |
Action space (action, shape [14])
| Index | Name |
|---|---|
| 0 | left_joint_0 |
| 1 | left_joint_1 |
| 2 | left_joint_2 |
| 3 | left_joint_3 |
| 4 | left_joint_4 |
| 5 | left_joint_5 |
| 6 | left_gripper |
| 7 | right_joint_0 |
| 8 | right_joint_1 |
| 9 | right_joint_2 |
| 10 | right_joint_3 |
| 11 | right_joint_4 |
| 12 | right_joint_5 |
| 13 | right_gripper |
State and action are 1:1 index-aligned.
Note: Gripper dimensions may use different units between state (raw motor radians) and action (teleoperator command space). The robot's JointMapper rescales between these at command time. Left and right grippers may also have different value ranges if the physical hardware travel differs.
Usage
from lerobot.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("<repo_id>")
print(ds.num_episodes, ds.num_frames, ds[0]["observation.state"].shape)
License
Apache 2.0
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