---
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=steb6/test_r1">
<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



- **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": 10,
    "features": {
        "observation.state": {
            "dtype": "float32",
            "shape": [
                23
            ],
            "names": [
                "right_ee.x",
                "right_ee.y",
                "right_ee.z",
                "right_ee.qx",
                "right_ee.qy",
                "right_ee.qz",
                "right_ee.qw",
                "left_ee.x",
                "left_ee.y",
                "left_ee.z",
                "left_ee.qx",
                "left_ee.qy",
                "left_ee.qz",
                "left_ee.qw",
                "head.qx",
                "head.qy",
                "head.qz",
                "head.qw",
                "right_hand.aperture",
                "left_hand.aperture",
                "base.x",
                "base.y",
                "base.theta"
            ]
        },
        "observation.images.stereo_left": {
            "dtype": "video",
            "shape": [
                376,
                672,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "is_depth_map": false
            }
        },
        "observation.images.stereo_right": {
            "dtype": "video",
            "shape": [
                376,
                672,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "is_depth_map": false
            }
        },
        "action": {
            "dtype": "float32",
            "shape": [
                24
            ],
            "names": [
                "right_ee.x",
                "right_ee.y",
                "right_ee.z",
                "right_ee.qx",
                "right_ee.qy",
                "right_ee.qz",
                "right_ee.qw",
                "left_ee.x",
                "left_ee.y",
                "left_ee.z",
                "left_ee.qx",
                "left_ee.qy",
                "left_ee.qz",
                "left_ee.qw",
                "head.qx",
                "head.qy",
                "head.qz",
                "head.qw",
                "right_hand.aperture",
                "left_hand.aperture",
                "base.x",
                "base.y",
                "base.theta",
                "enabled"
            ]
        },
        "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": 0,
    "total_frames": 0,
    "total_tasks": 0,
    "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": "r1",
    "splits": {}
}
```


## Citation

**BibTeX:**

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