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This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "agilex_piper_bimanual",
    "total_episodes": 219,
    "total_frames": 41978,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:219"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
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            "shape": [
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            ],
            "names": [
                "right_joint1",
                "right_joint2",
                "right_joint3",
                "right_joint4",
                "right_joint5",
                "right_joint6",
                "left_joint1",
                "left_joint2",
                "left_joint3",
                "left_joint4",
                "left_joint5",
                "left_joint6",
                "right_gripper",
                "left_gripper"
            ]
        },
        "action": {
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                "right_joint2",
                "right_joint3",
                "right_joint4",
                "right_joint5",
                "right_joint6",
                "left_joint1",
                "left_joint2",
                "left_joint3",
                "left_joint4",
                "left_joint5",
                "left_joint6",
                "right_gripper",
                "left_gripper"
            ]
        },
        "observation.images.front": {
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                "video.width": 640,
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                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
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        "observation.camera_ts_ns.front.rgb": {
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            "names": null
        },
        "observation.images.left": {
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        "observation.camera_ts_ns.right.rgb": {
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        "observation.images.top": {
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            "info": {
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        "observation.camera_ts_ns.top.rgb": {
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        },
        "timestamp": {
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            "names": null
        },
        "frame_index": {
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            "names": null
        },
        "episode_index": {
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            "names": null
        },
        "index": {
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    }
}

Citation

BibTeX:

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Models trained or fine-tuned on PranayTest/piper_single_plate_pick_20260706