---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
configs:
- config_name: default
  data_files:
  - split: train
    path: data/train-*
dataset_info:
  features:
  - name: observation.images.image
    dtype: image
  - name: observation.images.wrist_image
    dtype: image
  - name: observation.state
    list: float32
  - name: observation.ee_state
    list: float32
  - name: action
    list: float32
  - name: next.done
    dtype: bool
  - name: episode.task_emb
    list: float32
  - name: timestamp
    dtype: float32
  - name: frame_index
    dtype: int64
  - name: episode_index
    dtype: int64
  - name: index
    dtype: int64
  - name: task_index
    dtype: int64
  splits:
  - name: train
    num_bytes: 29133823355
    num_examples: 807133
  download_size: 27895414696
  dataset_size: 29133823355
---

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": "panda",
    "total_episodes": 5000,
    "total_frames": 807133,
    "total_tasks": 100,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:5000"
    },
    "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": {
        "observation.images.image": {
            "dtype": "image",
            "shape": [
                128,
                128,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "fps": 30
        },
        "observation.images.wrist_image": {
            "dtype": "image",
            "shape": [
                128,
                128,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "fps": 30
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                9
            ],
            "names": {
                "joints": [
                    "joint_0",
                    "joint_1",
                    "joint_2",
                    "joint_3",
                    "joint_4",
                    "joint_5",
                    "joint_6"
                ],
                "gripper": [
                    "gripper_left",
                    "gripper_right"
                ]
            },
            "fps": 30
        },
        "observation.ee_state": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": {
                "ee_position": [
                    "pos_x",
                    "pos_y",
                    "pos_z"
                ],
                "ee_orientation": [
                    "quat_x",
                    "quat_y",
                    "quat_z",
                    "quat_w"
                ]
            },
            "fps": 30
        },
        "action": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": {
                "command": [
                    "tx",
                    "ty",
                    "tz",
                    "rx",
                    "ry",
                    "rz",
                    "gripper"
                ]
            },
            "fps": 30
        },
        "next.done": {
            "dtype": "bool",
            "shape": [
                1
            ],
            "names": null,
            "fps": 30
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null,
            "fps": 30
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 30
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 30
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 30
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null,
            "fps": 30
        },
        "observation.task_emb": {
            "dtype": "float32",
            "shape": [
                384
            ],
            "names": null,
            "fps": 30
        }
    },
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500
}
```


## Citation

**BibTeX:**

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