---
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": "v2.0",
    "robot_type": "gr1t1",
    "total_episodes": 1000,
    "total_frames": 362600,
    "total_tasks": 1,
    "total_videos": 1000,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:1000"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "observation.images.top": {
            "dtype": "video",
            "shape": [
                3,
                800,
                1280
            ],
            "names": [
                "channel",
                "height",
                "width"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 800,
                "video.width": 1280,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                32
            ],
            "names": [
                "waist_yaw_joint",
                "waist_pitch_joint",
                "waist_roll_joint",
                "head_yaw_joint",
                "head_roll_joint",
                "head_pitch_joint",
                "left_shoulder_pitch_joint",
                "left_shoulder_roll_joint",
                "left_shoulder_yaw_joint",
                "left_elbow_pitch_joint",
                "left_wrist_yaw_joint",
                "left_wrist_roll_joint",
                "left_wrist_pitch_joint",
                "right_shoulder_pitch_joint",
                "right_shoulder_roll_joint",
                "right_shoulder_yaw_joint",
                "right_elbow_pitch_joint",
                "right_wrist_yaw_joint",
                "right_wrist_roll_joint",
                "right_wrist_pitch_joint",
                "L_pinky_proximal_joint",
                "L_ring_proximal_joint",
                "L_middle_proximal_joint",
                "L_index_proximal_joint",
                "L_thumb_proximal_pitch_joint",
                "L_thumb_proximal_yaw_joint",
                "R_pinky_proximal_joint",
                "R_ring_proximal_joint",
                "R_middle_proximal_joint",
                "R_index_proximal_joint",
                "R_thumb_proximal_pitch_joint",
                "R_thumb_proximal_yaw_joint"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                32
            ],
            "names": [
                "waist_yaw_joint",
                "waist_pitch_joint",
                "waist_roll_joint",
                "head_yaw_joint",
                "head_roll_joint",
                "head_pitch_joint",
                "left_shoulder_pitch_joint",
                "left_shoulder_roll_joint",
                "left_shoulder_yaw_joint",
                "left_elbow_pitch_joint",
                "left_wrist_yaw_joint",
                "left_wrist_roll_joint",
                "left_wrist_pitch_joint",
                "right_shoulder_pitch_joint",
                "right_shoulder_roll_joint",
                "right_shoulder_yaw_joint",
                "right_elbow_pitch_joint",
                "right_wrist_yaw_joint",
                "right_wrist_roll_joint",
                "right_wrist_pitch_joint",
                "L_pinky_proximal_joint",
                "L_ring_proximal_joint",
                "L_middle_proximal_joint",
                "L_index_proximal_joint",
                "L_thumb_proximal_pitch_joint",
                "L_thumb_proximal_yaw_joint",
                "R_pinky_proximal_joint",
                "R_ring_proximal_joint",
                "R_middle_proximal_joint",
                "R_index_proximal_joint",
                "R_thumb_proximal_pitch_joint",
                "R_thumb_proximal_yaw_joint"
            ]
        },
        "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
        },
        "next.done": {
            "dtype": "bool",
            "shape": [
                1
            ],
            "names": null
        }
    }
}
```


## Citation

**BibTeX:**

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