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README.md

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+---
+license: apache-2.0
+task_categories:
+- robotics
+tags:
+- LeRobot
+- icub
+- smolvla
+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=mklovin/icub_blocklifting">
+<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": "icub_mujoco",
+    "total_episodes": 50,
+    "total_frames": 28726,
+    "total_tasks": 1,
+    "chunks_size": 1000,
+    "data_files_size_in_mb": 100,
+    "video_files_size_in_mb": 200,
+    "fps": 30,
+    "splits": {
+        "train": "0:50"
+    },
+    "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",
+            "names": [
+                "rh_pos_x",
+                "rh_pos_y",
+                "rh_pos_z",
+                "rh_quat_w",
+                "rh_quat_x",
+                "rh_quat_y",
+                "rh_quat_z",
+                "rh_gripper",
+                "gaze_x",
+                "gaze_y",
+                "gaze_z"
+            ],
+            "shape": [
+                11
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "names": [
+                "torso_pitch",
+                "torso_roll",
+                "torso_yaw",
+                "r_shoulder_pitch",
+                "r_shoulder_roll",
+                "r_shoulder_yaw",
+                "r_elbow",
+                "r_wrist_prosup",
+                "r_wrist_pitch",
+                "r_wrist_yaw",
+                "r_hand_finger",
+                "r_thumb_oppose",
+                "r_thumb_proximal",
+                "r_thumb_distal",
+                "r_index_proximal",
+                "r_index_distal",
+                "r_middle_proximal",
+                "r_middle_distal",
+                "r_pinky",
+                "neck_pitch",
+                "neck_roll",
+                "neck_yaw",
+                "torso_pitch_vel",
+                "torso_roll_vel",
+                "torso_yaw_vel",
+                "r_shoulder_pitch_vel",
+                "r_shoulder_roll_vel",
+                "r_shoulder_yaw_vel",
+                "r_elbow_vel",
+                "r_wrist_prosup_vel",
+                "r_wrist_pitch_vel",
+                "r_wrist_yaw_vel",
+                "r_hand_finger_vel",
+                "r_thumb_oppose_vel",
+                "r_thumb_proximal_vel",
+                "r_thumb_distal_vel",
+                "r_index_proximal_vel",
+                "r_index_distal_vel",
+                "r_middle_proximal_vel",
+                "r_middle_distal_vel",
+                "r_pinky_vel",
+                "neck_pitch_vel",
+                "neck_roll_vel",
+                "neck_yaw_vel",
+                "rh_ee_pos_x",
+                "rh_ee_pos_y",
+                "rh_ee_pos_z",
+                "rh_ee_quat_w",
+                "rh_ee_quat_x",
+                "rh_ee_quat_y",
+                "rh_ee_quat_z",
+                "lh_ee_pos_x",
+                "lh_ee_pos_y",
+                "lh_ee_pos_z",
+                "lh_ee_quat_w",
+                "lh_ee_quat_x",
+                "lh_ee_quat_y",
+                "lh_ee_quat_z",
+                "rh_target_pos_x",
+                "rh_target_pos_y",
+                "rh_target_pos_z",
+                "rh_target_quat_w",
+                "rh_target_quat_x",
+                "rh_target_quat_y",
+                "rh_target_quat_z",
+                "lh_target_pos_x",
+                "lh_target_pos_y",
+                "lh_target_pos_z",
+                "lh_target_quat_w",
+                "lh_target_quat_x",
+                "lh_target_quat_y",
+                "lh_target_quat_z",
+                "gaze_target_pos_x",
+                "gaze_target_pos_y",
+                "gaze_target_pos_z",
+                "rh_gripper",
+                "lh_gripper",
+                "rh_touch_thumb",
+                "rh_touch_index",
+                "rh_touch_middle",
+                "lh_touch_thumb",
+                "lh_touch_index",
+                "lh_touch_middle",
+                "object_pos_x",
+                "object_pos_y",
+                "object_pos_z",
+                "object_quat_w",
+                "object_quat_x",
+                "object_quat_y",
+                "object_quat_z",
+                "torso_pitch_torque",
+                "torso_roll_torque",
+                "torso_yaw_torque",
+                "r_shoulder_pitch_torque",
+                "r_shoulder_roll_torque",
+                "r_shoulder_yaw_torque",
+                "r_elbow_torque",
+                "r_wrist_prosup_torque",
+                "r_wrist_pitch_torque",
+                "r_wrist_yaw_torque",
+                "r_hand_finger_torque",
+                "r_thumb_oppose_torque",
+                "r_thumb_proximal_torque",
+                "r_thumb_distal_torque",
+                "r_index_proximal_torque",
+                "r_index_distal_torque",
+                "r_middle_proximal_torque",
+                "r_middle_distal_torque",
+                "r_pinky_torque",
+                "neck_pitch_torque",
+                "neck_roll_torque",
+                "neck_yaw_torque",
+                "rh_ext_force_x",
+                "rh_ext_force_y",
+                "rh_ext_force_z",
+                "lh_ext_force_x",
+                "lh_ext_force_y",
+                "lh_ext_force_z"
+            ],
+            "shape": [
+                118
+            ]
+        },
+        "observation.images.head_cam": {
+            "dtype": "video",
+            "shape": [
+                3,
+                240,
+                320
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 240,
+                "video.width": 320,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.head_cam_track_hand": {
+            "dtype": "video",
+            "shape": [
+                3,
+                240,
+                320
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 240,
+                "video.width": 320,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.frontview": {
+            "dtype": "video",
+            "shape": [
+                3,
+                240,
+                320
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 240,
+                "video.width": 320,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "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]
+```