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README.md

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+---
+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
+
+This dataset contains 50 demonstrations per task from the Meta-world simulation benchmarks. Demonstrations are generated using expert policies.
+Meta-world: https://arxiv.org/abs/1910.10897
+
+We reposition the camera and flip the rendered images as follow:
+```env.model.cam_pos[2] = [0.75, 0.075, 0.7]
+```
+
+- **Homepage:** [More Information Needed]
+- **Paper:** [More Information Needed]
+- **License:** apache-2.0
+
+## Dataset Structure
+
+[meta/info.json](meta/info.json):
+```json
+{
+    "codebase_version": "v2.0",
+    "robot_type": "metaworld",
+    "total_episodes": 2500,
+    "total_frames": 204806,
+    "total_tasks": 49,
+    "total_videos": 0,
+    "total_chunks": 3,
+    "chunks_size": 1000,
+    "fps": 80,
+    "splits": {
+        "train": "0:2500"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                4
+            ],
+            "names": {
+                "axes": null
+            }
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                4
+            ],
+            "names": {
+                "axes": [
+                    "x",
+                    "y",
+                    "z",
+                    "gripper"
+                ]
+            }
+        },
+        "next.reward": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "next.success": {
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+            "names": null
+        },
+        "observation.environment_state": {
+            "dtype": "float32",
+            "shape": [
+                39
+            ],
+            "names": [
+                "keypoints"
+            ]
+        },
+        "observation.image": {
+            "dtype": "image",
+            "shape": [
+                3,
+                480,
+                480
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ]
+        },
+        "task_id": {
+            "dtype": "int16",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "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
+        }
+    }
+}
+```
+
+
+## Citation
+
+**BibTeX:**
+
+```bibtex
+[More Information Needed]
+```

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+{
+    "codebase_version": "v2.1",
+    "robot_type": "metaworld",
+    "total_episodes": 2500,
+    "total_frames": 204806,
+    "total_tasks": 49,
+    "total_videos": 0,
+    "total_chunks": 3,
+    "chunks_size": 1000,
+    "fps": 80,
+    "splits": {
+        "train": "0:2500"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                4
+            ],
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+            }
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+            "shape": [
+                4
+            ],
+            "names": {
+                "axes": [
+                    "x",
+                    "y",
+                    "z",
+                    "gripper"
+                ]
+            }
+        },
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+                1
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+            "names": [
+                "keypoints"
+            ]
+        },
+        "observation.image": {
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+            "shape": [
+                3,
+                480,
+                480
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
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+}

meta/tasks.jsonl

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+{"task_index": 0, "task": "Pick up a nut and place it onto a peg"}
+{"task_index": 1, "task": "Dunk the basketball into the basket"}
+{"task_index": 2, "task": "Grasp the puck from one bin and place it into another bin"}
+{"task_index": 3, "task": "Grasp the cover and close the box with it"}
+{"task_index": 4, "task": "Press a button from the top"}
+{"task_index": 5, "task": "Bypass a wall and press a button from the top"}
+{"task_index": 6, "task": "Press a button"}
+{"task_index": 7, "task": "Bypass a wall and press a button"}
+{"task_index": 8, "task": "Push a button on the coffee machine"}
+{"task_index": 9, "task": "Pull a mug from a coffee machine"}
+{"task_index": 10, "task": "Push a mug under a coffee machine"}
+{"task_index": 11, "task": "Rotate a dial 180 degrees"}
+{"task_index": 12, "task": "Pick a nut out of a peg"}
+{"task_index": 13, "task": "Close a door with a revolving joint"}
+{"task_index": 14, "task": "Lock the door by rotating the lock clockwise"}
+{"task_index": 15, "task": "Open a door with a revolving joint"}
+{"task_index": 16, "task": "Unlock the door by rotating the lock counter-clockwise"}
+{"task_index": 17, "task": "Insert the gripper into a hole"}
+{"task_index": 18, "task": "Push and close a drawer"}
+{"task_index": 19, "task": "Open a drawer"}
+{"task_index": 20, "task": "Rotate the faucet counter-clockwise"}
+{"task_index": 21, "task": "Rotate the faucet clockwise"}
+{"task_index": 22, "task": "Hammer a screw on the wall"}
+{"task_index": 23, "task": "Press a handle down sideways"}
+{"task_index": 24, "task": "Press a handle down"}
+{"task_index": 25, "task": "Pull a handle up sideways"}
+{"task_index": 26, "task": "Pull a handle up"}
+{"task_index": 27, "task": "Pull a lever down 90 degrees"}
+{"task_index": 28, "task": "Pick a puck, bypass a wall and place the puck"}
+{"task_index": 29, "task": "Pick up a puck from a hole"}
+{"task_index": 30, "task": "Pick and place a puck to a goal"}
+{"task_index": 31, "task": "Slide a plate into a cabinet"}
+{"task_index": 32, "task": "Slide a plate into a cabinet sideways"}
+{"task_index": 33, "task": "Get a plate from the cabinet"}
+{"task_index": 34, "task": "Get a plate from the cabinet sideways"}
+{"task_index": 35, "task": "Insert a peg sideways"}
+{"task_index": 36, "task": "Unplug a peg sideways"}
+{"task_index": 37, "task": "Kick a soccer into the goal"}
+{"task_index": 38, "task": "Grasp a stick and push a box using the stick"}
+{"task_index": 39, "task": "Grasp a stick and pull a box with the stick"}
+{"task_index": 40, "task": "Push the puck to a goal"}
+{"task_index": 41, "task": "Bypass a wall and push a puck to a goal"}
+{"task_index": 42, "task": "Reach a goal position"}
+{"task_index": 43, "task": "Bypass a wall and reach a goal"}
+{"task_index": 44, "task": "Pick and place a puck onto a shelf"}
+{"task_index": 45, "task": "Sweep a puck into a hole"}
+{"task_index": 46, "task": "Sweep a puck off the table"}
+{"task_index": 47, "task": "Push and open a window"}
+{"task_index": 48, "task": "Push and close a window"}