---
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": "v2.1",
    "robot_type": "rdp_dual_flexiv_tactar",
    "total_episodes": 9,
    "total_frames": 1869,
    "total_tasks": 1,
    "total_videos": 27,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 10,
    "splits": {
        "train": "0:9"
    },
    "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": [
                16
            ],
            "names": [
                "left_tcp_x",
                "left_tcp_y",
                "left_tcp_z",
                "left_tcp_quat_w",
                "left_tcp_quat_x",
                "left_tcp_quat_y",
                "left_tcp_quat_z",
                "left_gripper_width",
                "right_tcp_x",
                "right_tcp_y",
                "right_tcp_z",
                "right_tcp_quat_w",
                "right_tcp_quat_x",
                "right_tcp_quat_y",
                "right_tcp_quat_z",
                "right_gripper_width"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                16
            ],
            "names": [
                "left_tcp_x",
                "left_tcp_y",
                "left_tcp_z",
                "left_tcp_quat_w",
                "left_tcp_quat_x",
                "left_tcp_quat_y",
                "left_tcp_quat_z",
                "left_gripper_width",
                "right_tcp_x",
                "right_tcp_y",
                "right_tcp_z",
                "right_tcp_quat_w",
                "right_tcp_quat_x",
                "right_tcp_quat_y",
                "right_tcp_quat_z",
                "right_gripper_width"
            ]
        },
        "observation.effort": {
            "dtype": "float32",
            "shape": [
                12
            ],
            "names": [
                "left_fx",
                "left_fy",
                "left_fz",
                "left_tx",
                "left_ty",
                "left_tz",
                "right_fx",
                "right_fy",
                "right_fz",
                "right_tx",
                "right_ty",
                "right_tz"
            ]
        },
        "observation.images.cam1": {
            "dtype": "video",
            "shape": [
                3,
                480,
                640
            ],
            "names": [
                "channels",
                "height",
                "width"
            ],
            "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
            }
        },
        "observation.images.cam2": {
            "dtype": "video",
            "shape": [
                3,
                224,
                224
            ],
            "names": [
                "channels",
                "height",
                "width"
            ],
            "info": {
                "video.height": 224,
                "video.width": 224,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.cam3": {
            "dtype": "video",
            "shape": [
                3,
                224,
                224
            ],
            "names": [
                "channels",
                "height",
                "width"
            ],
            "info": {
                "video.height": 224,
                "video.width": 224,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "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]
```