---
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": 100,
    "total_frames": 1792,
    "total_tasks": 1,
    "chunks_size": 10000,
    "data_files_size_in_mb": 10000,
    "video_files_size_in_mb": 20000,
    "fps": 30,
    "splits": {
        "train": "0:100"
    },
    "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": {
        "reward": {
            "dtype": "float32",
            "shape": [
                1
            ]
        },
        "done": {
            "dtype": "bool",
            "shape": [
                1
            ]
        },
        "observation.images.front_rgb": {
            "dtype": "video",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 256,
                "video.width": 256,
                "video.channels": 3
            }
        },
        "observation.images.wrist_rgb": {
            "dtype": "video",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 256,
                "video.width": 256,
                "video.channels": 3
            }
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                19
            ],
            "names": [
                "fingertip_pos_rel_fixed_x",
                "fingertip_pos_rel_fixed_y",
                "fingertip_pos_rel_fixed_z",
                "fingertip_quat_w",
                "fingertip_quat_x",
                "fingertip_quat_y",
                "fingertip_quat_z",
                "ee_linvel_x",
                "ee_linvel_y",
                "ee_linvel_z",
                "ee_angvel_x",
                "ee_angvel_y",
                "ee_angvel_z",
                "prev_action_px",
                "prev_action_py",
                "prev_action_pz",
                "prev_action_rx",
                "prev_action_ry",
                "prev_action_rz"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "px",
                "py",
                "pz",
                "rx",
                "ry",
                "rz"
            ]
        },
        "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]
```