---
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).


<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=arkojit1/mj_stack_red_yellow">
<img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/>
<img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/>
</a>


## Dataset Description

Expert demonstrations of `stack the red block on the yellow block`, `stack the red block on the other`, `put the red block on top of the yellow block`, `put the red block on the other`, `stack the yellow block on the red block`, `stack the yellow block on the other`, `put the yellow block on top of the red block`, `put the yellow block on the other` in the mj_pick_block MuJoCo Franka Panda scene.

- **Source:** dataset recipe `stack_red_yellow` (`record_expert_dataset.py`)
  - `stack_red_on_yellow`: 50 episodes
  - `stack_yellow_on_red`: 50 episodes
- **Control rate:** 50 Hz
- **Frames:** `action.ee.delta_xyz` is a gripper-site translation in the MuJoCo world frame (meters). `action.ee.orientation` is the first two rows of the gripper site's **world-frame** rotation matrix (site axes expressed in world).
- **Observations:** `observation.image.front`, `observation.image.wrist` (224×224 RGB, MP4 under `videos/`); `observation.state` (`cartesian_position`: `x`, `y`, `z`, `gripper`) is world-frame end-effector xyz (gripper site, meters) plus gripper opening in `[0, 1]` (0 = closed, 1 = open)
- **Scene init:** repeated each frame; MuJoCo free-joint qpos `[x, y, z, qw, qx, qy, qz]` at episode start:
  - `scene_init.block_red.pose`: shape (7,), names ['x', 'y', 'z', 'qw', 'qx', 'qy', 'qz']
  - `scene_init.block_yellow.pose`: shape (7,), names ['x', 'y', 'z', 'qw', 'qx', 'qy', 'qz']
- **Gripper:** target opening in `[0, 1]` (0 = closed, 1 = open)
- **Recorded actions:**
  - `action.ee.delta_xyz`: shape (3,), names ['dx', 'dy', 'dz']
  - `action.ee.orientation`: shape (6,), names ['r00', 'r01', 'r02', 'r10', 'r11', 'r12']
  - `action.joint.delta_angles`: shape (7,), names ['joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6', 'joint7']
  - `action.gripper.target`: shape (1,), names ['gripper']

- **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",
    "fps": 50,
    "features": {
        "observation.image.front": {
            "dtype": "video",
            "shape": [
                3,
                224,
                224
            ],
            "names": [
                "C",
                "H",
                "W"
            ],
            "info": {
                "video.height": 224,
                "video.width": 224,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.fps": 50,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": 12,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {},
                "is_depth_map": false
            }
        },
        "observation.image.wrist": {
            "dtype": "video",
            "shape": [
                3,
                224,
                224
            ],
            "names": [
                "C",
                "H",
                "W"
            ],
            "info": {
                "video.height": 224,
                "video.width": 224,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.fps": 50,
                "video.channels": 3,
                "has_audio": false,
                "video.g": 2,
                "video.crf": 30,
                "video.preset": 12,
                "video.fast_decode": 0,
                "video.video_backend": "pyav",
                "video.extra_options": {},
                "is_depth_map": false
            }
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                4
            ],
            "names": [
                "x",
                "y",
                "z",
                "gripper"
            ]
        },
        "action.ee.delta_xyz": {
            "dtype": "float32",
            "shape": [
                3
            ],
            "names": [
                "dx",
                "dy",
                "dz"
            ]
        },
        "action.ee.orientation": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "r00",
                "r01",
                "r02",
                "r10",
                "r11",
                "r12"
            ]
        },
        "action.joint.delta_angles": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "joint1",
                "joint2",
                "joint3",
                "joint4",
                "joint5",
                "joint6",
                "joint7"
            ]
        },
        "action.gripper.target": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "gripper"
            ]
        },
        "scene_init.block_red.pose": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "x",
                "y",
                "z",
                "qw",
                "qx",
                "qy",
                "qz"
            ]
        },
        "scene_init.block_yellow.pose": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "x",
                "y",
                "z",
                "qw",
                "qx",
                "qy",
                "qz"
            ]
        },
        "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
        }
    },
    "total_episodes": 100,
    "total_frames": 46585,
    "total_tasks": 8,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "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",
    "robot_type": "panda",
    "splits": {
        "train": "0:100"
    }
}
```


## Citation

**BibTeX:**

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