---
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": "ffw_bg2_rev4",
    "total_episodes": 10,
    "total_frames": 9034,
    "total_tasks": 1,
    "chunks_size": 1000,
    "fps": 10,
    "splits": {
        "train": "0:10"
    },
    "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": {
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null,
            "fps": 10
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 10
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 10
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 10
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 10
        },
        "observation.images.cam_head": {
            "dtype": "video",
            "names": [
                "height",
                "width",
                "channels"
            ],
            "shape": [
                376,
                672,
                3
            ],
            "info": {
                "video.height": 376,
                "video.width": 672,
                "video.channels": 3,
                "video.codec": "libx264",
                "video.pix_fmt": "yuv420p"
            }
        },
        "observation.images.cam_head_right": {
            "dtype": "video",
            "names": [
                "height",
                "width",
                "channels"
            ],
            "shape": [
                376,
                672,
                3
            ],
            "info": {
                "video.height": 376,
                "video.width": 672,
                "video.channels": 3,
                "video.codec": "libx264",
                "video.pix_fmt": "yuv420p"
            }
        },
        "observation.images.cam_wrist_left": {
            "dtype": "video",
            "names": [
                "height",
                "width",
                "channels"
            ],
            "shape": [
                240,
                424,
                3
            ],
            "info": {
                "video.height": 240,
                "video.width": 424,
                "video.channels": 3,
                "video.codec": "libx264",
                "video.pix_fmt": "yuv420p"
            }
        },
        "observation.images.cam_wrist_right": {
            "dtype": "video",
            "names": [
                "height",
                "width",
                "channels"
            ],
            "shape": [
                240,
                424,
                3
            ],
            "info": {
                "video.height": 240,
                "video.width": 424,
                "video.channels": 3,
                "video.codec": "libx264",
                "video.pix_fmt": "yuv420p"
            }
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "arm_l_joint1",
                "arm_l_joint2",
                "arm_l_joint3",
                "arm_l_joint4",
                "arm_l_joint5",
                "arm_l_joint6",
                "arm_l_joint7",
                "gripper_l_joint1",
                "arm_r_joint1",
                "arm_r_joint2",
                "arm_r_joint3",
                "arm_r_joint4",
                "arm_r_joint5",
                "arm_r_joint6",
                "arm_r_joint7",
                "gripper_r_joint1",
                "head_joint1",
                "head_joint2",
                "lift_joint"
            ],
            "shape": [
                19
            ],
            "fps": 10
        },
        "action": {
            "dtype": "float32",
            "names": [
                "arm_l_joint1",
                "arm_l_joint2",
                "arm_l_joint3",
                "arm_l_joint4",
                "arm_l_joint5",
                "arm_l_joint6",
                "arm_l_joint7",
                "gripper_l_joint1",
                "arm_r_joint1",
                "arm_r_joint2",
                "arm_r_joint3",
                "arm_r_joint4",
                "arm_r_joint5",
                "arm_r_joint6",
                "arm_r_joint7",
                "gripper_r_joint1",
                "head_joint1",
                "head_joint2",
                "lift_joint"
            ],
            "shape": [
                19
            ],
            "fps": 10
        }
    },
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500
}
```


## Citation

**BibTeX:**

```bibtex
[More Information Needed]
```