---
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": "v3.0",
    "robot_type": null,
    "total_episodes": 8000,
    "total_frames": 48000,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 10,
    "splits": {
        "train": "0:8000"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": null,
    "features": {
        "observation.image": {
            "dtype": "image",
            "shape": [
                128,
                128,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "picker1_x",
                "picker1_y",
                "picker1_z",
                "picker2_x",
                "picker2_y",
                "picker2_z"
            ]
        },
        "observation.environment_state": {
            "dtype": "float32",
            "shape": [
                12
            ],
            "names": [
                "kp1_x",
                "kp1_y",
                "kp1_z",
                "kp2_x",
                "kp2_y",
                "kp2_z",
                "kp3_x",
                "kp3_y",
                "kp3_z",
                "kp4_x",
                "kp4_y",
                "kp4_z"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                12
            ],
            "names": [
                "a0",
                "a1",
                "a2",
                "a3",
                "a4",
                "a5",
                "a6",
                "a7",
                "a8",
                "a9",
                "a10",
                "a11"
            ]
        },
        "next.reward": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "next.done": {
            "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
        }
    },
    "metadata": {
        "env_kwargs": {
            "observation_mode": "key_point",
            "action_mode": "pickerpickandplace",
            "num_picker": 2,
            "render": true,
            "headless": 1,
            "horizon": 6,
            "action_repeat": 1,
            "render_mode": "cloth",
            "num_variations": 1000,
            "use_cached_states": true,
            "deterministic": false,
            "save_cached_states": false,
            "ir_reward_weight": 0
        }
    }
}
```


## Citation

**BibTeX:**

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