---
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": "xarm",
    "total_episodes": 491,
    "total_frames": 436429,
    "total_tasks": 1,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 50,
    "splits": {
        "train": "0:491"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": null,
    "features": {
        "lang": {
            "dtype": "float32",
            "shape": [
                512
            ],
            "names": null
        },
        "observation.image.low": {
            "dtype": "image",
            "shape": [
                224,
                224,
                3
            ],
            "names": [
                "width",
                "height",
                "channels"
            ]
        },
        "observation.image.side": {
            "dtype": "image",
            "shape": [
                224,
                224,
                3
            ],
            "names": [
                "width",
                "height",
                "channels"
            ]
        },
        "observation.image.wrist": {
            "dtype": "image",
            "shape": [
                224,
                224,
                3
            ],
            "names": [
                "width",
                "height",
                "channels"
            ]
        },
        "observation.state.gripper": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "gripper"
            ]
        },
        "observation.state.joints": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "joint_1",
                "joint_2",
                "joint_3",
                "joint_4",
                "joint_5",
                "joint_6",
                "joint_7"
            ]
        },
        "observation.state.position": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "x",
                "y",
                "z",
                "rx",
                "ry",
                "rz"
            ]
        },
        "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]
```