# lbm_pick_and_place_test

This dataset was converted from LBM format to LeRobot format.

## Dataset Information

- **Robot Type**: lbm_bimanual_panda
- **Total Episodes**: 2
- **Total Frames**: 196
- **FPS**: 10
- **Cameras**: scene_left_0, wrist_right_plus, wrist_left_minus, wrist_left_plus, wrist_right_minus, scene_right_0

## Dataset Structure

This dataset follows the LeRobot format:

- `data/`: Contains episode data in Parquet format
- `videos/`: Contains video files for each camera
- `meta/`: Contains metadata files (episodes.jsonl, stats.jsonl, tasks.jsonl, info.json)
- `additional_data/` (optional): Contains preserved LBM-specific data (depth, segmentation)

## Usage

```python
from datasets import load_dataset

# Load the dataset
dataset = load_dataset("lbm_pick_and_place_test")

# Access episode data
episode_data = dataset["train"]

# Get video paths from metadata
import json
with open("meta/episodes.jsonl", "r") as f:
    episodes_meta = [json.loads(line) for line in f]

print(f"First episode videos: {episodes_meta[0]['video_paths']}")
```

## Original Data

This dataset preserves all original LBM data:
- Robot state observations mapped to `observation.state.*`
- Actions mapped to `action.*`  
- Camera images converted to MP4 videos
- Additional data (depth, segmentation, calibration) preserved in metadata and additional files

## Citation

If you use this dataset, please cite the original LBM work and this conversion.