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README.md
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---
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license: mit
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task_categories:
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- robotics
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language:
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- en
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tags:
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- robotics
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- lerobot
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- manipulation
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- bimanual
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size_categories:
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- 1K<n<10K
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pretty_name: corrected-mapping
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configs:
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- config_name: default
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data_files:
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- split: train
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path: "data/chunk-000/episode_*.parquet"
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---
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# corrected-mapping
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LeRobot v2.1 format dataset for robot manipulation.
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## Dataset Structure
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- **Episodes**: 1 episodes of robot manipulation
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- **Total Frames**: 327 frames
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- **Cameras**: 3 camera views per episode
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- `observation.images.base_camera_sensor_image_raw`
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- `observation.images.arm1_camera_sensor_image_raw`
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- `observation.images.arm2_camera_sensor_image_raw`
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- **Robot**: Bimanual manipulator with 34 joints
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- **Format**: LeRobot v2.1
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## Usage with LeRobot
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```python
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from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
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dataset = LeRobotDataset("Sraghvi/shrugmaster-test")
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```
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## Dataset Format
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This dataset follows the LeRobot v2.1 format:
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- `data/chunk-000/`: Parquet files containing episode data
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- `videos/chunk-000/`: MP4 video files for each camera view
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- `meta/`: Metadata files
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- `info.json`: Dataset configuration and feature descriptions
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- `episodes.jsonl`: Episode metadata
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- `tasks.jsonl`: Task descriptions
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- `episodes_stats.jsonl`: Dataset statistics
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## Dataset Details
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- **Total Episodes**: 1
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- **Total Frames**: 327
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- **Average Episode Length**: 327 frames
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- **FPS**: ~9 (calculated from real data)
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- **Robot Type**: Bimanual arm with 34 joints
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- **Camera Resolution**: 1280x720
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- **Video Codec**: H.264
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## Features
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- **Action**: Robot action commands with individual joint columns
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- **Observation State**: Robot state observations with individual joint columns
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- **Isaac Commands**: Simulation commands
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- **Timestamp**: Frame timestamps
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- **Episode/Frame/Task Indices**: Data organization
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- **Joint Names**: Names of all robot joints
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- **Joint Velocities**: Velocity data for all joints
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