---
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": null,
    "total_episodes": 12,
    "total_frames": 35452,
    "total_tasks": 1,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 50,
    "splits": {
        "train": "0:12"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": null,
    "features": {
        "observation.state": {
            "dtype": "float32",
            "shape": [
                16
            ],
            "names": [
                "robot/left_waist",
                "robot/left_shoulder",
                "robot/left_elbow",
                "robot/left_forearm_roll",
                "robot/left_wrist_angle",
                "robot/left_wrist_rotate",
                "robot/left_left_finger",
                "robot/left_right_finger",
                "robot/right_waist",
                "robot/right_shoulder",
                "robot/right_elbow",
                "robot/right_forearm_roll",
                "robot/right_wrist_angle",
                "robot/right_wrist_rotate",
                "robot/right_left_finger",
                "robot/right_right_finger"
            ]
        },
        "observation.environment_state": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": [
                "bimanual_insertion_peg_px",
                "bimanual_insertion_peg_py",
                "bimanual_insertion_peg_pz",
                "bimanual_insertion_peg_qw",
                "bimanual_insertion_peg_qx",
                "bimanual_insertion_peg_qy",
                "bimanual_insertion_peg_qz",
                "bimanual_insertion_hole3_px",
                "bimanual_insertion_hole3_py",
                "bimanual_insertion_hole3_pz",
                "bimanual_insertion_hole3_qw",
                "bimanual_insertion_hole3_qx",
                "bimanual_insertion_hole3_qy",
                "bimanual_insertion_hole3_qz"
            ]
        },
        "observation.qvel": {
            "dtype": "float32",
            "shape": [
                16
            ],
            "names": [
                "robot/left_waist",
                "robot/left_shoulder",
                "robot/left_elbow",
                "robot/left_forearm_roll",
                "robot/left_wrist_angle",
                "robot/left_wrist_rotate",
                "robot/left_left_finger",
                "robot/left_right_finger",
                "robot/right_waist",
                "robot/right_shoulder",
                "robot/right_elbow",
                "robot/right_forearm_roll",
                "robot/right_wrist_angle",
                "robot/right_wrist_rotate",
                "robot/right_left_finger",
                "robot/right_right_finger"
            ]
        },
        "observation.env_qvel": {
            "dtype": "float32",
            "shape": [
                12
            ],
            "names": [
                "bimanual_insertion_peg_vx",
                "bimanual_insertion_peg_vy",
                "bimanual_insertion_peg_vz",
                "bimanual_insertion_peg_wx",
                "bimanual_insertion_peg_wy",
                "bimanual_insertion_peg_wz",
                "bimanual_insertion_hole3_vx",
                "bimanual_insertion_hole3_vy",
                "bimanual_insertion_hole3_vz",
                "bimanual_insertion_hole3_wx",
                "bimanual_insertion_hole3_wy",
                "bimanual_insertion_hole3_wz"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": [
                "robot/left_waist",
                "robot/left_shoulder",
                "robot/left_elbow",
                "robot/left_forearm_roll",
                "robot/left_wrist_angle",
                "robot/left_wrist_rotate",
                "robot/left_gripper",
                "robot/right_waist",
                "robot/right_shoulder",
                "robot/right_elbow",
                "robot/right_forearm_roll",
                "robot/right_wrist_angle",
                "robot/right_wrist_rotate",
                "robot/right_gripper"
            ]
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_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]
```