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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).
+
+
+<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=kimz1121/robocasa_spatial_camrandom_float16_pretrain_atomic_CloseBlenderLid">
+<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": "PandaOmron",
+    "total_episodes": 106,
+    "total_frames": 36933,
+    "total_tasks": 1,
+    "chunks_size": 1000,
+    "data_files_size_in_mb": 100,
+    "video_files_size_in_mb": 200,
+    "fps": 20,
+    "splits": {
+        "train": "0:106"
+    },
+    "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": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "base_x",
+                "base_y",
+                "base_rot",
+                "base_torso",
+                "control_mode",
+                "ee_x",
+                "ee_y",
+                "ee_z",
+                "ee_rx",
+                "ee_ry",
+                "ee_rz",
+                "gripper_close"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                16
+            ],
+            "names": [
+                "base_x",
+                "base_y",
+                "base_z",
+                "base_qx",
+                "base_qy",
+                "base_qz",
+                "base_qw",
+                "ee_rel_x",
+                "ee_rel_y",
+                "ee_rel_z",
+                "ee_rel_qx",
+                "ee_rel_qy",
+                "ee_rel_qz",
+                "ee_rel_qw",
+                "gripper_left",
+                "gripper_right"
+            ]
+        },
+        "observation.images.robot0_agentview_left": {
+            "dtype": "video",
+            "shape": [
+                256,
+                256,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 256,
+                "video.width": 256,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 20,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.robot0_agentview_right": {
+            "dtype": "video",
+            "shape": [
+                256,
+                256,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 256,
+                "video.width": 256,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 20,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.robot0_eye_in_hand": {
+            "dtype": "video",
+            "shape": [
+                256,
+                256,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 256,
+                "video.width": 256,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 20,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.depth.robot0_agentview_left": {
+            "dtype": "float16",
+            "shape": [
+                256,
+                256
+            ],
+            "names": "depth_image"
+        },
+        "observation.depth.robot0_agentview_right": {
+            "dtype": "float16",
+            "shape": [
+                256,
+                256
+            ],
+            "names": "depth_image"
+        },
+        "observation.depth.robot0_eye_in_hand": {
+            "dtype": "float16",
+            "shape": [
+                256,
+                256
+            ],
+            "names": "depth_image"
+        },
+        "observation.intrinsic.robot0_agentview_left": {
+            "dtype": "float32",
+            "shape": [
+                3,
+                3
+            ],
+            "names": "intrinsic_matrix"
+        },
+        "observation.intrinsic.robot0_agentview_right": {
+            "dtype": "float32",
+            "shape": [
+                3,
+                3
+            ],
+            "names": "intrinsic_matrix"
+        },
+        "observation.intrinsic.robot0_eye_in_hand": {
+            "dtype": "float32",
+            "shape": [
+                3,
+                3
+            ],
+            "names": "intrinsic_matrix"
+        },
+        "observation.extrinsic.robot0_agentview_left": {
+            "dtype": "float32",
+            "shape": [
+                4,
+                4
+            ],
+            "names": "extrinsic_matrix"
+        },
+        "observation.extrinsic.robot0_agentview_right": {
+            "dtype": "float32",
+            "shape": [
+                4,
+                4
+            ],
+            "names": "extrinsic_matrix"
+        },
+        "observation.extrinsic.robot0_eye_in_hand": {
+            "dtype": "float32",
+            "shape": [
+                4,
+                4
+            ],
+            "names": "extrinsic_matrix"
+        },
+        "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]
+```