---
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=Lior-ACQU/Forgis">
<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",
    "robot_type": null,
    "total_episodes": 5125,
    "total_frames": 829182,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 10,
    "splits": {
        "train": "0:5125"
    },
    "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.state": {
            "dtype": "float32",
            "shape": [
                83
            ],
            "names": [
                "joint_0",
                "joint_1",
                "joint_2",
                "joint_3",
                "joint_4",
                "joint_5",
                "tcp_x",
                "tcp_y",
                "tcp_z",
                "joint_vel_0",
                "joint_vel_1",
                "joint_vel_2",
                "joint_vel_3",
                "joint_vel_4",
                "joint_vel_5",
                "tcp_rx",
                "tcp_ry",
                "tcp_rz",
                "tcp_a",
                "tcp_b",
                "tcp_c",
                "motor_current_0",
                "motor_current_1",
                "motor_current_2",
                "motor_current_3",
                "motor_current_4",
                "motor_current_5",
                "motor_torque_0",
                "motor_torque_1",
                "motor_torque_2",
                "motor_torque_3",
                "motor_torque_4",
                "motor_torque_5",
                "motor_temp_0",
                "motor_temp_1",
                "motor_temp_2",
                "motor_temp_3",
                "motor_temp_4",
                "motor_temp_5",
                "setpoint_pos_0",
                "setpoint_pos_1",
                "setpoint_pos_2",
                "setpoint_pos_3",
                "setpoint_pos_4",
                "setpoint_pos_5",
                "cart_accel_x",
                "cart_accel_y",
                "cart_accel_z",
                "cart_accel_abs",
                "speed_override",
                "process_state",
                "digital_output_1",
                "digital_output_2",
                "digital_output_3",
                "digital_output_4",
                "digital_output_5",
                "digital_output_6",
                "digital_output_7",
                "digital_output_8",
                "digital_output_9",
                "digital_output_10",
                "digital_output_11",
                "digital_output_12",
                "digital_output_13",
                "digital_output_14",
                "digital_output_15",
                "digital_output_16",
                "digital_input_1",
                "digital_input_2",
                "digital_input_3",
                "digital_input_4",
                "digital_input_5",
                "digital_input_6",
                "digital_input_7",
                "digital_input_8",
                "digital_input_9",
                "digital_input_10",
                "digital_input_11",
                "digital_input_12",
                "digital_input_13",
                "digital_input_14",
                "digital_input_15",
                "digital_input_16"
            ]
        },
        "observation.images.cam_2d": {
            "dtype": "video",
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 720,
                "video.width": 1280,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.cam_3d": {
            "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": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "safety_mode": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "safety_mode"
            ]
        },
        "task_phase": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "task_phase"
            ]
        },
        "fault": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "fault"
            ]
        },
        "skill_index": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "skill_index"
            ]
        },
        "robot": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "robot"
            ]
        },
        "fault_id": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "fault_id"
            ]
        },
        "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]
```