---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
configs:
- config_name: default
  data_files: data/*/*.parquet
---

This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).

## Dataset Description



- **Homepage:** [More Information Needed]
- **Paper:** [More Information Needed]
- **License:** apache-2.0

## Dataset Structure

[meta/info.json](meta/info.json):
```json
{
    "codebase_version": "v3.0",
    "robot_type": null,
    "total_episodes": 955,
    "total_frames": 342450,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 10,
    "splits": {
        "train": "0:955"
    },
    "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": {
        "observation.images.head_camera": {
            "shape": [
                376,
                672,
                3
            ],
            "dtype": "video",
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 376,
                "video.width": 672,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.scene_camera_1": {
            "shape": [
                480,
                640,
                3
            ],
            "dtype": "video",
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.scene_camera_2": {
            "shape": [
                480,
                640,
                3
            ],
            "dtype": "video",
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "action": {
            "dtype": "float32",
            "shape": [
                16
            ],
            "names": [
                "left_arm_joint_1",
                "left_arm_joint_2",
                "left_arm_joint_3",
                "left_arm_joint_4",
                "left_arm_joint_5",
                "left_arm_joint_6",
                "left_arm_joint_7",
                "right_arm_joint_1",
                "right_arm_joint_2",
                "right_arm_joint_3",
                "right_arm_joint_4",
                "right_arm_joint_5",
                "right_arm_joint_6",
                "right_arm_joint_7",
                "left_gripper_motor_joint",
                "right_gripper_motor_joint"
            ],
            "fps": 10
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                16
            ],
            "names": [
                "left_arm_joint_1",
                "left_arm_joint_2",
                "left_arm_joint_3",
                "left_arm_joint_4",
                "left_arm_joint_5",
                "left_arm_joint_6",
                "left_arm_joint_7",
                "right_arm_joint_1",
                "right_arm_joint_2",
                "right_arm_joint_3",
                "right_arm_joint_4",
                "right_arm_joint_5",
                "right_arm_joint_6",
                "right_arm_joint_7",
                "left_gripper_motor_joint",
                "right_gripper_motor_joint"
            ],
            "fps": 10
        },
        "observation.ee_rel2world.left": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "x",
                "y",
                "z",
                "qx",
                "qy",
                "qz",
                "qw"
            ],
            "fps": 10
        },
        "observation.ee_rel2world.right": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "x",
                "y",
                "z",
                "qx",
                "qy",
                "qz",
                "qw"
            ],
            "fps": 10
        },
        "observation.ee_rel2base.right": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "x",
                "y",
                "z",
                "qx",
                "qy",
                "qz",
                "qw"
            ],
            "fps": 10
        },
        "observation.ee_rel2base.left": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "x",
                "y",
                "z",
                "qx",
                "qy",
                "qz",
                "qw"
            ],
            "fps": 10
        },
        "observation.ee_rel2base.left_to_right": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "x",
                "y",
                "z",
                "qx",
                "qy",
                "qz",
                "qw"
            ],
            "fps": 10
        },
        "observation.ee_rel2base.right_to_left": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "x",
                "y",
                "z",
                "qx",
                "qy",
                "qz",
                "qw"
            ],
            "fps": 10
        },
        "observation.state.ee.all": {
            "dtype": "float32",
            "shape": [
                20
            ],
            "names": [
                "l_x",
                "l_y",
                "l_z",
                "l_r11",
                "l_r12",
                "l_r13",
                "l_r21",
                "l_r22",
                "l_r23",
                "r_x",
                "r_y",
                "r_z",
                "r_r11",
                "r_r12",
                "r_r13",
                "r_r21",
                "r_r22",
                "r_r23",
                "l_grip",
                "r_grip"
            ],
            "fps": 10
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "action.ee.all": {
            "dtype": "float32",
            "shape": [
                20
            ],
            "names": [
                "l_x",
                "l_y",
                "l_z",
                "l_r11",
                "l_r12",
                "l_r13",
                "l_r21",
                "l_r22",
                "l_r23",
                "r_x",
                "r_y",
                "r_z",
                "r_r11",
                "r_r12",
                "r_r13",
                "r_r21",
                "r_r22",
                "r_r23",
                "l_grip",
                "r_grip"
            ]
        }
    }
}
```


## Citation

**BibTeX:**

```bibtex
[More Information Needed]
```