livsynrobotics/LivDualArm-Grip-Sample

# LivDualArm-Grip-Sample

A **sample** robot manipulation dataset for the task **opening a drawer**, collected on a dual-arm platform with grippers. It is intended for quick inspection, format validation, and prototyping (for example with [LeRobot](https://github.com/huggingface/lerobot)-style tooling), not as a full-scale training corpus.

## Task

- **Primary language task string:** `Open drawer.`
- **Behavior:** Bimanual (dual-arm) trajectories that pull open a drawer; episodes are labeled with this task in `meta/episodes.jsonl`.

The task registry in `meta/tasks.jsonl` also lists a generic `dual_arm task` entry; **all episodes in this release** are associated with **Open drawer.**

## Robot & sensing

| Item | Value |
|------|--------|
| Robot type | `L0` (see `meta/info.json`) |
| Arms | Left and right: 6-DOF joint positions, end-effector pose (6), end-effector scalar (1) per arm |
| Cameras | `cam_left`, `cam_right`, `cam_high` — RGB video, **640×480**, 3 channels |
| Control rate | **10 Hz** (`fps`: 10.0) |

## Dataset statistics (this sample)

| Metric | Count |
|--------|------:|
| Episodes | 23 |
| Frames (total) | 6,058 |
| Video streams (total files) | 69 (3 cameras × 23 episodes) |
| Chunks | 1 |
| Split | `train`: episodes `0:23` (all episodes) |

## Layout & format

- **Schema version:** `codebase_version` **v2.1** (`meta/info.json`).
- **Tabular data:** `data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet`
- **Videos:** `videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4`

Per-frame fields include timestamps, `frame_index`, `episode_index`, `task_index`, and the observation features listed under `features` in `meta/info.json`.

## Metadata files

| File | Role |
|------|------|
| `meta/info.json` | Global stats, paths, feature dtypes/shapes |
| `meta/tasks.jsonl` | `task_index` → task description |
| `meta/episodes.jsonl` | Episode lengths and task labels |
| `meta/episodes_stats.jsonl` | Per-episode summary statistics |

## Usage note

Ensure `data/` and `videos/` are present alongside `meta/` if you load episodes from disk; this repository may ship **metadata only** in some distributions—check your archive for the full asset bundle.

## Citation / naming

When referring to this package, use the dataset name **LivDualArm-Grip-Sample** and describe it as a **drawer-opening** dual-arm gripper sample in **LeRobot dataset v2.1** layout.