---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- mimicgen
- lerobot
- robotics
- cross-embodiment
- robosuite
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=OliverHausdoerfer/demo_src_coffee_task_D0_robot_IIWA_gripper_Robotiq85Gripper">
<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",
    "robot_type": "cross_embodiment",
    "total_episodes": 500,
    "total_frames": 109889,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:500"
    },
    "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",
    "features": {
        "action": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": {
                "motors": [
                    "dx",
                    "dy",
                    "dz",
                    "drx",
                    "dry",
                    "drz",
                    "gripper"
                ]
            }
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                2
            ],
            "names": {
                "motors": [
                    "zero0",
                    "zero1"
                ]
            }
        },
        "observation.eef": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": {
                "motors": [
                    "eef_pos_x",
                    "eef_pos_y",
                    "eef_pos_z",
                    "eef_quat_x",
                    "eef_quat_y",
                    "eef_quat_z",
                    "eef_quat_w"
                ]
            }
        },
        "observation.gripper": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": {
                "motors": [
                    "gripper_qpos_0",
                    "gripper_qpos_1",
                    "gripper_qpos_2",
                    "gripper_qpos_3",
                    "gripper_qpos_4",
                    "gripper_qpos_5"
                ]
            }
        },
        "observation.joint": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": {
                "motors": [
                    "joint_pos_0",
                    "joint_pos_1",
                    "joint_pos_2",
                    "joint_pos_3",
                    "joint_pos_4",
                    "joint_pos_5",
                    "joint_pos_6"
                ]
            }
        },
        "observation.eef_gripper": {
            "dtype": "float32",
            "shape": [
                13
            ],
            "names": {
                "motors": [
                    "eef_pos_x",
                    "eef_pos_y",
                    "eef_pos_z",
                    "eef_quat_x",
                    "eef_quat_y",
                    "eef_quat_z",
                    "eef_quat_w",
                    "gripper_qpos_0",
                    "gripper_qpos_1",
                    "gripper_qpos_2",
                    "gripper_qpos_3",
                    "gripper_qpos_4",
                    "gripper_qpos_5"
                ]
            }
        },
        "observation.joint_gripper": {
            "dtype": "float32",
            "shape": [
                13
            ],
            "names": {
                "motors": [
                    "joint_pos_0",
                    "joint_pos_1",
                    "joint_pos_2",
                    "joint_pos_3",
                    "joint_pos_4",
                    "joint_pos_5",
                    "joint_pos_6",
                    "gripper_qpos_0",
                    "gripper_qpos_1",
                    "gripper_qpos_2",
                    "gripper_qpos_3",
                    "gripper_qpos_4",
                    "gripper_qpos_5"
                ]
            }
        },
        "observation.images.agentview": {
            "dtype": "video",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "rgb"
            ],
            "info": {
                "video.height": 256,
                "video.width": 256,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "rgb"
            ],
            "info": {
                "video.height": 256,
                "video.width": 256,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "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]
```