enactic/act-openarm-2-cell-pick_up_cube_mujoco
Robotics • 51.7M • Updated • 387
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action listlengths 16 16 | observation.state listlengths 16 16 | timestamp float64 0 10.5 | frame_index int64 0 316 | episode_index int64 0 29 | index int64 0 5.4k | task_index int64 0 0 | success int64 1 1 | last_frame_index int64 119 316 |
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End of preview. Expand in Data Studio
openarm-2-cell-pick_up_cube_mujoco-lerobot
OpenArm 2 bimanual manipulation demonstrations ("pick up the cube") recorded in a MuJoCo simulation cell through VR teleoperation, converted to the LeRobot dataset format with OpenArm Dataset.
- Robot: OpenArm 2, bimanual (2 x 7 DoF + gripper, 16-dim state/action, joint positions)
- Environment: MuJoCo simulation, VR teleoperation
- Task:
Pick up the cube. - Episodes: 30 (splits:
train0:24,val24:30) — Frames: 5405 @ 30 fps - Cameras:
ceiling,head_left,head_right,wrist_left,wrist_right - Extra columns:
success(per-episode success flag),last_frame_index
This revision holds the v3.0 format (main).
Versions
Both LeRobot dataset formats of the same recordings live in this repository, on
separate revisions (their data/ / videos/ / meta/ layouts are incompatible):
| revision | codebase_version |
works with |
|---|---|---|
main, tag v3.0 |
v3.0 | lerobot >= 0.6.0 (Python >= 3.12) |
branch v2.1, tag v2.1 |
v2.1 | lerobot == 0.3.3 |
LeRobotDataset resolves the revision matching your installed LeRobot version
automatically, so plain LeRobotDataset("k1000dai/openarm-2-cell-pick_up_cube_mujoco-lerobot") works on both.
Usage
from lerobot.datasets.lerobot_dataset import LeRobotDataset
dataset = LeRobotDataset("k1000dai/openarm-2-cell-pick_up_cube_mujoco-lerobot") # revision picked from your lerobot version
dataset = LeRobotDataset("k1000dai/openarm-2-cell-pick_up_cube_mujoco-lerobot", revision="v2.1") # pin the v2.1 format explicitly
Dataset structure
{
"codebase_version": "v3.0",
"robot_type": "openarm_bimanual",
"total_episodes": 30,
"total_frames": 5405,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:24",
"val": "24:30"
},
"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": {
"action": {
"dtype": "float32",
"names": [
"right_joint1.pos",
"right_joint2.pos",
"right_joint3.pos",
"right_joint4.pos",
"right_joint5.pos",
"right_joint6.pos",
"right_joint7.pos",
"right_gripper.pos",
"left_joint1.pos",
"left_joint2.pos",
"left_joint3.pos",
"left_joint4.pos",
"left_joint5.pos",
"left_joint6.pos",
"left_joint7.pos",
"left_gripper.pos"
],
"shape": [
16
],
"fps": 30
},
"observation.state": {
"dtype": "float32",
"names": [
"right_joint1.pos",
"right_joint2.pos",
"right_joint3.pos",
"right_joint4.pos",
"right_joint5.pos",
"right_joint6.pos",
"right_joint7.pos",
"right_gripper.pos",
"left_joint1.pos",
"left_joint2.pos",
"left_joint3.pos",
"left_joint4.pos",
"left_joint5.pos",
"left_joint6.pos",
"left_joint7.pos",
"left_gripper.pos"
],
"shape": [
16
],
"fps": 30
},
"timestamp": {
"dtype": "float64",
"shape": [
1
],
"names": null,
"fps": 30
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 30
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 30
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 30
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 30
},
"success": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 30
},
"last_frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 30
},
"observation.images.ceiling": {
"dtype": "video",
"shape": [
600,
960,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 600,
"video.width": 960,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.head_left": {
"dtype": "video",
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 720,
"video.width": 1280,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.head_right": {
"dtype": "video",
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 720,
"video.width": 1280,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.wrist_left": {
"dtype": "video",
"shape": [
600,
960,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 600,
"video.width": 960,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.wrist_right": {
"dtype": "video",
"shape": [
600,
960,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 600,
"video.width": 960,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
}
}
}
License
Apache-2.0.
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