Datasets:
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observation.state list | action list | observation.velocity list | observation.effort list | timestamp float32 0 26.7 | frame_index int64 0 1.6k | episode_index int64 0 39 | index int64 0 51k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
0605-t-foam
This dataset was created using LeRobot.
Dataset Description
A bimanual manipulation dataset collected on the Anvil OpenArm robot.
- Robot type:
anvil_openarm - Task: manipulation
- Codebase version: v3.0
- FPS: 60
- Total episodes: 40
- Total frames: 51,039
- Total tasks: 1
- Splits:
train(episodes 0–40)
Camera Views
The dataset includes four synchronized camera streams, each 640×480 H.264 video at 60 fps:
| Key | Description |
|---|---|
observation.images.chest |
Chest-mounted camera |
observation.images.waist |
Waist-mounted camera |
observation.images.wrist_l |
Left wrist camera |
observation.images.wrist_r |
Right wrist camera |
Robot State & Action Space
The robot is a dual-arm system with 16 DoF total (7 joints + 1 finger joint per arm).
observation.state—float32[16]joint positionsobservation.velocity—float32[16]joint velocitiesobservation.effort—float32[16]joint effortsaction—float32[16]target joint positions
Joint order (both state and action):
left_finger_joint1, left_joint1..left_joint7,
right_finger_joint1, right_joint1..right_joint7
Usage
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
dataset = LeRobotDataset("DMDphilai/0605-t-foam")
Citation
@misc{lerobot,
author = {Cadene, Remi and others},
title = {LeRobot: State-of-the-art Machine Learning for Real-World Robotics in Pytorch},
year = {2024},
url = {https://github.com/huggingface/lerobot}
}
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