---
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).


<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=Aneeshers/mug_tree_session1">
<img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/>
<img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/>
</a>


## 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",
    "fps": 15,
    "features": {
        "observation.state": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "cart_pos_x",
                "cart_pos_y",
                "cart_pos_z",
                "cart_rot_x",
                "cart_rot_y",
                "cart_rot_z",
                "gripper_position"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "vel_x",
                "vel_y",
                "vel_z",
                "vel_roll",
                "vel_pitch",
                "vel_yaw",
                "gripper_action"
            ]
        },
        "steps_to_go": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": [
                "steps_to_go"
            ]
        },
        "source": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": [
                "source_id"
            ]
        },
        "intervention": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": [
                "intervention_flag"
            ]
        },
        "success": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": [
                "success_flag"
            ]
        },
        "is_valid": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": [
                "is_valid_flag"
            ]
        },
        "reward": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "reward"
            ]
        },
        "done": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": [
                "done_flag"
            ]
        },
        "manifest_idx": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": [
                "manifest_idx"
            ]
        },
        "cup_x": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "cup_x"
            ]
        },
        "cup_y": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "cup_y"
            ]
        },
        "cup_yaw": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "cup_yaw"
            ]
        },
        "tree_x": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "tree_x"
            ]
        },
        "tree_y": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "tree_y"
            ]
        },
        "action.cartesian_velocity": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "x",
                "y",
                "z",
                "roll",
                "pitch",
                "yaw"
            ]
        },
        "action.cartesian_position": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "x",
                "y",
                "z",
                "roll",
                "pitch",
                "yaw"
            ]
        },
        "action.joint_velocity": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "joint_0",
                "joint_1",
                "joint_2",
                "joint_3",
                "joint_4",
                "joint_5",
                "joint_6"
            ]
        },
        "action.joint_position": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "joint_0",
                "joint_1",
                "joint_2",
                "joint_3",
                "joint_4",
                "joint_5",
                "joint_6"
            ]
        },
        "action.gripper_position": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "gripper"
            ]
        },
        "action.gripper_velocity": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "gripper"
            ]
        },
        "observation.state.cartesian_position": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "x",
                "y",
                "z",
                "roll",
                "pitch",
                "yaw"
            ]
        },
        "observation.state.joint_position": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "joint_0",
                "joint_1",
                "joint_2",
                "joint_3",
                "joint_4",
                "joint_5",
                "joint_6"
            ]
        },
        "observation.state.joint_velocity": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "joint_0",
                "joint_1",
                "joint_2",
                "joint_3",
                "joint_4",
                "joint_5",
                "joint_6"
            ]
        },
        "observation.state.cartesian_velocity": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "x",
                "y",
                "z",
                "roll",
                "pitch",
                "yaw"
            ]
        },
        "observation.state.gripper_position": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "gripper"
            ]
        },
        "observation.images.wrist_left": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "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": 15,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": 12,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {}
            }
        },
        "observation.images.wrist_right": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "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": 15,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": 12,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {}
            }
        },
        "observation.images.side_1": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "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": 15,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": 12,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {}
            }
        },
        "observation.images.side_right": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "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": 15,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": 12,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {}
            }
        },
        "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
        }
    },
    "total_episodes": 200,
    "total_frames": 63871,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 25,
    "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",
    "robot_type": "franka",
    "splits": {
        "train": "0:200"
    }
}
```


## Citation

**BibTeX:**

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