---
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": "bifranka",
    "total_episodes": 1,
    "total_frames": 82,
    "total_tasks": 1,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:1"
    },
    "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.joint_positions": {
            "dtype": "float32",
            "shape": [
                18
            ],
            "names": [
                "l_joint_1",
                "l_joint_2",
                "l_joint_3",
                "l_joint_4",
                "l_joint_5",
                "l_joint_6",
                "l_joint_7",
                "l_gripper_left",
                "l_gripper_right",
                "r_joint_1",
                "r_joint_2",
                "r_joint_3",
                "r_joint_4",
                "r_joint_5",
                "r_joint_6",
                "r_joint_7",
                "r_gripper_left",
                "r_gripper_right"
            ]
        },
        "observation.ee_pose": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": [
                "l_pos_x",
                "l_pos_y",
                "l_pos_z",
                "l_quat_w",
                "l_quat_x",
                "l_quat_y",
                "l_quat_z",
                "r_pos_x",
                "r_pos_y",
                "r_pos_z",
                "r_quat_w",
                "r_quat_x",
                "r_quat_y",
                "r_quat_z"
            ]
        },
        "action.ee_pose": {
            "dtype": "float32",
            "shape": [
                32
            ],
            "names": [
                "l_matrix_0_0",
                "l_matrix_0_1",
                "l_matrix_0_2",
                "l_matrix_0_3",
                "l_matrix_1_0",
                "l_matrix_1_1",
                "l_matrix_1_2",
                "l_matrix_1_3",
                "l_matrix_2_0",
                "l_matrix_2_1",
                "l_matrix_2_2",
                "l_matrix_2_3",
                "l_matrix_3_0",
                "l_matrix_3_1",
                "l_matrix_3_2",
                "l_matrix_3_3",
                "r_matrix_0_0",
                "r_matrix_0_1",
                "r_matrix_0_2",
                "r_matrix_0_3",
                "r_matrix_1_0",
                "r_matrix_1_1",
                "r_matrix_1_2",
                "r_matrix_1_3",
                "r_matrix_2_0",
                "r_matrix_2_1",
                "r_matrix_2_2",
                "r_matrix_2_3",
                "r_matrix_3_0",
                "r_matrix_3_1",
                "r_matrix_3_2",
                "r_matrix_3_3"
            ]
        },
        "action.gripper": {
            "dtype": "float32",
            "shape": [
                2
            ],
            "names": [
                "l_gripper",
                "r_gripper"
            ]
        },
        "rgb.global_0": {
            "dtype": "uint8",
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "rgb"
            ]
        },
        "depth.global_0": {
            "dtype": "uint16",
            "shape": [
                720,
                1280
            ],
            "names": [
                "depth"
            ]
        },
        "pose.cambridge_mug": {
            "dtype": "float32",
            "shape": [
                4,
                4
            ],
            "names": [
                "pose"
            ]
        },
        "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]
```