---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- real
- hdf5
- hessian
- 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": "v2.1",
    "robot_type": "hessian",
    "total_episodes": 197,
    "total_frames": 66397,
    "total_tasks": 1,
    "total_videos": 591,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 60,
    "splits": {
        "train": "0:197"
    },
    "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.video_left": {
            "dtype": "video",
            "shape": [
                224,
                224,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 224,
                "video.width": 224,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 60,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.video_overhead": {
            "dtype": "video",
            "shape": [
                224,
                224,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 224,
                "video.width": 224,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 60,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.video_right": {
            "dtype": "video",
            "shape": [
                224,
                224,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 224,
                "video.width": 224,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 60,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": [
                "state"
            ]
        },
        "observation.velocity": {
            "dtype": "float32",
            "shape": [
                12
            ],
            "names": [
                "velocity"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": [
                "action"
            ]
        },
        "source.action_time_s": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "metadata.arm_recording_key": {
            "dtype": "string",
            "shape": [
                1
            ],
            "names": null
        },
        "metadata.camera_names": {
            "dtype": "string",
            "shape": [
                1
            ],
            "names": null
        },
        "metadata.can_interface_left": {
            "dtype": "string",
            "shape": [
                1
            ],
            "names": null
        },
        "metadata.can_interface_right": {
            "dtype": "string",
            "shape": [
                1
            ],
            "names": null
        },
        "metadata.compress": {
            "dtype": "bool",
            "shape": [
                1
            ],
            "names": null
        },
        "metadata.config_path": {
            "dtype": "string",
            "shape": [
                1
            ],
            "names": null
        },
        "metadata.config_sha256": {
            "dtype": "string",
            "shape": [
                1
            ],
            "names": null
        },
        "metadata.double_arm": {
            "dtype": "bool",
            "shape": [
                1
            ],
            "names": null
        },
        "metadata.fps": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "metadata.goal_schema_version": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "metadata.pedal_key_map": {
            "dtype": "string",
            "shape": [
                1
            ],
            "names": null
        },
        "metadata.phase_count": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "metadata.phase_labels": {
            "dtype": "string",
            "shape": [
                1
            ],
            "names": null
        },
        "metadata.robot_type": {
            "dtype": "string",
            "shape": [
                1
            ],
            "names": null
        },
        "metadata.sim": {
            "dtype": "bool",
            "shape": [
                1
            ],
            "names": null
        },
        "metadata.single_arm": {
            "dtype": "bool",
            "shape": [
                1
            ],
            "names": null
        },
        "metadata.start_gripper": {
            "dtype": "string",
            "shape": [
                1
            ],
            "names": null
        },
        "metadata.start_position_enabled": {
            "dtype": "bool",
            "shape": [
                1
            ],
            "names": null
        },
        "metadata.start_position_move_duration": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "metadata.start_position_path": {
            "dtype": "string",
            "shape": [
                1
            ],
            "names": null
        },
        "metadata.task_name": {
            "dtype": "string",
            "shape": [
                1
            ],
            "names": null
        },
        "metadata.task_variant": {
            "dtype": "string",
            "shape": [
                1
            ],
            "names": null
        },
        "metadata.use_camera_server": {
            "dtype": "bool",
            "shape": [
                1
            ],
            "names": null
        },
        "prompt": {
            "dtype": "string",
            "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]
```