---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- droid
- isaacsim
- panda
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=WillMandil001/PIB_droid_test">
<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": {
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            ],
            "names": null
        },
        "is_last": {
            "dtype": "bool",
            "shape": [
                1
            ],
            "names": null
        },
        "is_terminal": {
            "dtype": "bool",
            "shape": [
                1
            ],
            "names": null
        },
        "language_instruction": {
            "dtype": "string",
            "shape": [
                1
            ],
            "names": null
        },
        "observation.state.gripper_position": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": {
                "axes": [
                    "gripper"
                ]
            }
        },
        "observation.state.cartesian_position": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": {
                "axes": [
                    "x",
                    "y",
                    "z",
                    "roll",
                    "pitch",
                    "yaw"
                ]
            }
        },
        "observation.state.joint_position": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": {
                "axes": [
                    "joint_0",
                    "joint_1",
                    "joint_2",
                    "joint_3",
                    "joint_4",
                    "joint_5",
                    "joint_6"
                ]
            }
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": {
                "axes": [
                    "joint_0",
                    "joint_1",
                    "joint_2",
                    "joint_3",
                    "joint_4",
                    "joint_5",
                    "joint_6",
                    "gripper"
                ]
            }
        },
        "action.gripper_position": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": {
                "axes": [
                    "gripper"
                ]
            }
        },
        "action.gripper_velocity": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": {
                "axes": [
                    "gripper"
                ]
            }
        },
        "action.cartesian_position": {
            "dtype": "float32",
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            ],
            "names": {
                "axes": [
                    "x",
                    "y",
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                    "roll",
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                    "yaw"
                ]
            }
        },
        "action.cartesian_velocity": {
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            "names": {
                "axes": [
                    "x",
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        },
        "action.joint_position": {
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            "shape": [
                7
            ],
            "names": {
                "axes": [
                    "joint_0",
                    "joint_1",
                    "joint_2",
                    "joint_3",
                    "joint_4",
                    "joint_5",
                    "joint_6"
                ]
            }
        },
        "action.joint_velocity": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": {
                "axes": [
                    "joint_0",
                    "joint_1",
                    "joint_2",
                    "joint_3",
                    "joint_4",
                    "joint_5",
                    "joint_6"
                ]
            }
        },
        "action.original": {
            "dtype": "float32",
            "shape": [
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            ],
            "names": {
                "axes": [
                    "x",
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                    "roll",
                    "pitch",
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                ]
            }
        },
        "action": {
            "dtype": "float32",
            "shape": [
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            ],
            "names": {
                "axes": [
                    "joint_0",
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                    "joint_3",
                    "joint_4",
                    "joint_5",
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                ]
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        },
        "reward": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "is_episode_successful": {
            "dtype": "bool",
            "shape": [
                1
            ],
            "names": null
        },
        "observation.images.exterior_1": {
            "dtype": "video",
            "shape": [
                180,
                320,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 180,
                "video.width": 320,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "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": {},
                "is_depth_map": false
            }
        },
        "camera_extrinsics.exterior_1": {
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            "shape": [
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            ],
            "names": {
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                    "pitch",
                    "yaw"
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        },
        "observation.images.exterior_2": {
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            "shape": [
                180,
                320,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
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                "video.height": 180,
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                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
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                "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": {},
                "is_depth_map": false
            }
        },
        "camera_extrinsics.exterior_2": {
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            "shape": [
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            ],
            "names": {
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                    "x",
                    "y",
                    "z",
                    "roll",
                    "pitch",
                    "yaw"
                ]
            }
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                180,
                320,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 180,
                "video.width": 320,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "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": {},
                "is_depth_map": false
            }
        },
        "camera_extrinsics.wrist": {
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            "shape": [
                6
            ],
            "names": {
                "axes": [
                    "x",
                    "y",
                    "z",
                    "roll",
                    "pitch",
                    "yaw"
                ]
            }
        },
        "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": 6,
    "total_frames": 312,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "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": "0:6"
    }
}
```


## Citation

**BibTeX:**

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