vital_left_arm
Teleoperation dataset: Grasp the vital, and insert it into the stand.
Collected with limb on yam arms.
Dataset summary
| Field | Value |
|---|---|
| Robot | yam |
| Episodes | 350 |
| Total frames | 113,165 |
| FPS | 30 Hz |
| Task | Grasp the vital, and insert it into the stand. |
| Format | LeRobot v3.0 |
Cameras
| Name |
|---|
head_camera |
left_wrist_camera |
Video codec: hevc.
State space (observation.state, shape [7])
| 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 |
Action space (action, shape [7])
| 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 |
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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