---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- robotics
- mimicgen
- coffee_d0
- holder-jitter
- sigma-0.05
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=chomeed/mimicgen_coffee_d0_224x224_prior10k_sigma05_failure">
<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": 20,
    "features": {
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            "shape": [
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            "names": {
                "axes": [
                    "delta_x",
                    "delta_y",
                    "delta_z",
                    "delta_rx",
                    "delta_ry",
                    "delta_rz",
                    "gripper"
                ]
            }
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                66
            ],
            "names": {
                "axes": [
                    "eef_x",
                    "eef_y",
                    "eef_z",
                    "eef_qx",
                    "eef_qy",
                    "eef_qz",
                    "eef_qw",
                    "gripper_left",
                    "gripper_right",
                    "object_0",
                    "object_1",
                    "object_2",
                    "object_3",
                    "object_4",
                    "object_5",
                    "object_6",
                    "object_7",
                    "object_8",
                    "object_9",
                    "object_10",
                    "object_11",
                    "object_12",
                    "object_13",
                    "object_14",
                    "object_15",
                    "object_16",
                    "object_17",
                    "object_18",
                    "object_19",
                    "object_20",
                    "object_21",
                    "object_22",
                    "object_23",
                    "object_24",
                    "object_25",
                    "object_26",
                    "object_27",
                    "object_28",
                    "object_29",
                    "object_30",
                    "object_31",
                    "object_32",
                    "object_33",
                    "object_34",
                    "object_35",
                    "object_36",
                    "object_37",
                    "object_38",
                    "object_39",
                    "object_40",
                    "object_41",
                    "object_42",
                    "object_43",
                    "object_44",
                    "object_45",
                    "object_46",
                    "object_47",
                    "object_48",
                    "object_49",
                    "object_50",
                    "object_51",
                    "object_52",
                    "object_53",
                    "object_54",
                    "object_55",
                    "object_56"
                ]
            }
        },
        "observation.sim_state": {
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            "names": null
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        "reward": {
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        },
        "done": {
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        },
        "success": {
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        "is_first": {
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            "names": null
        },
        "is_last": {
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            "names": null
        },
        "is_terminal": {
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        },
        "source_demo_index": {
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                1
            ],
            "names": null
        },
        "observation.images.agentview": {
            "dtype": "video",
            "shape": [
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                "video.width": 224,
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                "video.pix_fmt": "yuv420p",
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                "video.channels": 3,
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        "observation.images.eye_in_hand": {
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        "observation.object": {
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            "names": null
        },
        "observation.robot0_eef_pos": {
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            "names": null
        },
        "observation.robot0_eef_pos_rel_pod": {
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        "observation.robot0_eef_pos_rel_pod_holder": {
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        "observation.robot0_eef_quat_rel_pod_holder": {
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        "observation.robot0_eef_vel_ang": {
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        "observation.robot0_eef_vel_lin": {
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                3
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        },
        "observation.robot0_gripper_qpos": {
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                2
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        "observation.robot0_gripper_qvel": {
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                2
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        "observation.robot0_joint_pos": {
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                7
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            "names": null
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        "observation.robot0_joint_pos_cos": {
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            "names": null
        },
        "observation.robot0_joint_pos_sin": {
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            "names": null
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        "observation.robot0_joint_vel": {
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        "timestamp": {
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        },
        "frame_index": {
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            ],
            "names": null
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        "episode_index": {
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            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    },
    "total_episodes": 100,
    "total_frames": 40000,
    "total_tasks": 1,
    "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]
```