---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- robosuite
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": "robosuite",
    "total_episodes": 5,
    "total_frames": 367,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 20,
    "splits": {
        "train": "0:5"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": null,
    "features": {
        "observation.state": {
            "dtype": "float32",
            "shape": [
                34
            ],
            "names": [
                "s0",
                "s1",
                "s2",
                "s3",
                "s4",
                "s5",
                "s6",
                "s7",
                "s8",
                "s9",
                "s10",
                "s11",
                "s12",
                "s13",
                "s14",
                "s15",
                "s16",
                "s17",
                "s18",
                "s19",
                "s20",
                "s21",
                "s22",
                "s23",
                "s24",
                "s25",
                "s26",
                "s27",
                "s28",
                "s29",
                "s30",
                "s31",
                "s32",
                "s33"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": [
                "a0",
                "a1",
                "a2",
                "a3",
                "a4",
                "a5",
                "a6",
                "a7"
            ]
        },
        "reward": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "reward"
            ]
        },
        "observation.gripper_to_hammer": {
            "dtype": "float32",
            "shape": [
                3
            ]
        },
        "observation.gripper_to_nail": {
            "dtype": "float32",
            "shape": [
                3
            ]
        },
        "observation.hammer_back_pos": {
            "dtype": "float32",
            "shape": [
                3
            ]
        },
        "observation.hammer_back_quat": {
            "dtype": "float32",
            "shape": [
                4
            ]
        },
        "observation.hammer_center_pos": {
            "dtype": "float32",
            "shape": [
                3
            ]
        },
        "observation.hammer_center_quat": {
            "dtype": "float32",
            "shape": [
                4
            ]
        },
        "observation.hammer_center_vel": {
            "dtype": "float32",
            "shape": [
                6
            ]
        },
        "observation.hammer_front_nail_force": {
            "dtype": "float32",
            "shape": [
                1
            ]
        },
        "observation.hammer_front_pos": {
            "dtype": "float32",
            "shape": [
                3
            ]
        },
        "observation.hammer_front_quat": {
            "dtype": "float32",
            "shape": [
                4
            ]
        },
        "observation.kin_hammer_main": {
            "dtype": "float32",
            "shape": [
                7
            ]
        },
        "observation.kin_nail_main": {
            "dtype": "float32",
            "shape": [
                7
            ]
        },
        "observation.kin_robot0_joint_pos": {
            "dtype": "float32",
            "shape": [
                7
            ]
        },
        "observation.nail_pos": {
            "dtype": "float32",
            "shape": [
                3
            ]
        },
        "observation.nail_quat": {
            "dtype": "float32",
            "shape": [
                4
            ]
        },
        "observation.object-state": {
            "dtype": "float32",
            "shape": [
                41
            ]
        },
        "observation.robot0_eef_pos": {
            "dtype": "float32",
            "shape": [
                3
            ]
        },
        "observation.robot0_eef_quat": {
            "dtype": "float32",
            "shape": [
                4
            ]
        },
        "observation.robot0_eef_quat_site": {
            "dtype": "float32",
            "shape": [
                4
            ]
        },
        "observation.robot0_gripper_qpos": {
            "dtype": "float32",
            "shape": [
                2
            ]
        },
        "observation.robot0_gripper_qvel": {
            "dtype": "float32",
            "shape": [
                2
            ]
        },
        "observation.robot0_joint_acc": {
            "dtype": "float32",
            "shape": [
                7
            ]
        },
        "observation.robot0_joint_pos": {
            "dtype": "float32",
            "shape": [
                7
            ]
        },
        "observation.robot0_joint_pos_cos": {
            "dtype": "float32",
            "shape": [
                7
            ]
        },
        "observation.robot0_joint_pos_sin": {
            "dtype": "float32",
            "shape": [
                7
            ]
        },
        "observation.robot0_joint_vel": {
            "dtype": "float32",
            "shape": [
                7
            ]
        },
        "observation.robot0_proprio-state": {
            "dtype": "float32",
            "shape": [
                50
            ]
        },
        "observation.task_idx": {
            "dtype": "float32",
            "shape": [
                1
            ]
        },
        "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]
```