---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- openx
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": "Franka",
    "total_episodes": 10240,
    "total_frames": 2988169,
    "total_tasks": 6798,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 15,
    "splits": {
        "train": "0:10240"
    },
    "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": {
        "is_first": {
            "dtype": "bool",
            "shape": [
                1
            ],
            "names": null
        },
        "is_last": {
            "dtype": "bool",
            "shape": [
                1
            ],
            "names": null
        },
        "is_terminal": {
            "dtype": "bool",
            "shape": [
                1
            ],
            "names": null
        },
        "language_instruction": {
            "dtype": "string",
            "shape": [
                1
            ],
            "names": null
        },
        "language_instruction_2": {
            "dtype": "string",
            "shape": [
                1
            ],
            "names": null
        },
        "language_instruction_3": {
            "dtype": "string",
            "shape": [
                1
            ],
            "names": null
        },
        "observation.state.gripper_position": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": {
                "axes": [
                    "gripper"
                ]
            }
        },
        "observation.state.cartesian_position": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": {
                "axes": [
                    "x",
                    "y",
                    "z",
                    "roll",
                    "pitch",
                    "yaw"
                ]
            }
        },
        "observation.state.joint_position": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": {
                "axes": [
                    "joint_0",
                    "joint_1",
                    "joint_2",
                    "joint_3",
                    "joint_4",
                    "joint_5",
                    "joint_6"
                ]
            }
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": {
                "axes": [
                    "joint_0",
                    "joint_1",
                    "joint_2",
                    "joint_3",
                    "joint_4",
                    "joint_5",
                    "joint_6",
                    "gripper"
                ]
            }
        },
        "observation.images.wrist_left": {
            "dtype": "video",
            "shape": [
                180,
                320,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 15.0,
                "video.height": 180,
                "video.width": 320,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.exterior_1_left": {
            "dtype": "video",
            "shape": [
                180,
                320,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 15.0,
                "video.height": 180,
                "video.width": 320,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.exterior_2_left": {
            "dtype": "video",
            "shape": [
                180,
                320,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 15.0,
                "video.height": 180,
                "video.width": 320,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "action.gripper_position": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": {
                "axes": [
                    "gripper"
                ]
            }
        },
        "action.gripper_velocity": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": {
                "axes": [
                    "gripper"
                ]
            }
        },
        "action.cartesian_position": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": {
                "axes": [
                    "x",
                    "y",
                    "z",
                    "roll",
                    "pitch",
                    "yaw"
                ]
            }
        },
        "action.cartesian_velocity": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": {
                "axes": [
                    "x",
                    "y",
                    "z",
                    "roll",
                    "pitch",
                    "yaw"
                ]
            }
        },
        "action.joint_position": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": {
                "axes": [
                    "joint_0",
                    "joint_1",
                    "joint_2",
                    "joint_3",
                    "joint_4",
                    "joint_5",
                    "joint_6"
                ]
            }
        },
        "action.joint_velocity": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": {
                "axes": [
                    "joint_0",
                    "joint_1",
                    "joint_2",
                    "joint_3",
                    "joint_4",
                    "joint_5",
                    "joint_6"
                ]
            }
        },
        "action.original": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": {
                "axes": [
                    "x",
                    "y",
                    "z",
                    "roll",
                    "pitch",
                    "yaw",
                    "gripper"
                ]
            }
        },
        "action": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": {
                "axes": [
                    "joint_0",
                    "joint_1",
                    "joint_2",
                    "joint_3",
                    "joint_4",
                    "joint_5",
                    "joint_6",
                    "gripper"
                ]
            }
        },
        "discount": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "reward": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "task_category": {
            "dtype": "string",
            "shape": [
                1
            ],
            "names": null
        },
        "building": {
            "dtype": "string",
            "shape": [
                1
            ],
            "names": null
        },
        "collector_id": {
            "dtype": "string",
            "shape": [
                1
            ],
            "names": null
        },
        "date": {
            "dtype": "string",
            "shape": [
                1
            ],
            "names": null
        },
        "camera_extrinsics.wrist_left": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": {
                "axes": [
                    "x",
                    "y",
                    "z",
                    "roll",
                    "pitch",
                    "yaw"
                ]
            }
        },
        "camera_extrinsics.exterior_1_left": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": {
                "axes": [
                    "x",
                    "y",
                    "z",
                    "roll",
                    "pitch",
                    "yaw"
                ]
            }
        },
        "camera_extrinsics.exterior_2_left": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": {
                "axes": [
                    "x",
                    "y",
                    "z",
                    "roll",
                    "pitch",
                    "yaw"
                ]
            }
        },
        "is_episode_successful": {
            "dtype": "bool",
            "shape": [
                1
            ],
            "names": null
        },
        "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]
```