ecappiell/multiple_box_experiment_20260527_183717

---
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=ecappiell/multiple_box_experiment_20260527_183717">
<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": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6
]
},
"observation.state": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_pan.current_raw",
"shoulder_pan.load_raw",
"shoulder_pan.vel_hw",
"shoulder_lift.pos",
"shoulder_lift.current_raw",
"shoulder_lift.load_raw",
"shoulder_lift.vel_hw",
"elbow_flex.pos",
"elbow_flex.current_raw",
"elbow_flex.load_raw",
"elbow_flex.vel_hw",
"wrist_flex.pos",
"wrist_flex.current_raw",
"wrist_flex.load_raw",
"wrist_flex.vel_hw",
"wrist_roll.pos",
"wrist_roll.current_raw",
"wrist_roll.load_raw",
"wrist_roll.vel_hw",
"gripper.pos",
"gripper.current_raw",
"gripper.load_raw",
"gripper.vel_hw",
"shoulder_pan.vel",
"shoulder_lift.vel",
"elbow_flex.vel",
"wrist_flex.vel",
"wrist_roll.vel",
"gripper.vel",
"shoulder_pan.torque_raw",
"shoulder_lift.torque_raw",
"elbow_flex.torque_raw",
"wrist_flex.torque_raw",
"wrist_roll.torque_raw",
"gripper.torque_raw",
"shoulder_pan.current_raw_signed",
"shoulder_pan.current_ma_signed",
"shoulder_pan.torque_raw_signed",
"shoulder_lift.current_raw_signed",
"shoulder_lift.current_ma_signed",
"shoulder_lift.torque_raw_signed",
"elbow_flex.current_raw_signed",
"elbow_flex.current_ma_signed",
"elbow_flex.torque_raw_signed",
"wrist_flex.current_raw_signed",
"wrist_flex.current_ma_signed",
"wrist_flex.torque_raw_signed",
"wrist_roll.current_raw_signed",
"wrist_roll.current_ma_signed",
"wrist_roll.torque_raw_signed",
"gripper.current_raw_signed",
"gripper.current_ma_signed",
"gripper.torque_raw_signed",
"shoulder_pan.filtered/vel_rad",
"shoulder_pan.estimated/tau_ext",
"shoulder_pan.estimated/tau_var",
"shoulder_pan.model/tau_motor",
"shoulder_pan.model/tau_gravity",
"shoulder_pan.model/tau_friction",
"shoulder_pan.model/tau_coriolis",
"shoulder_pan.model/tau_inertial",
"shoulder_pan.model/tau_model",
"shoulder_lift.filtered/vel_rad",
"shoulder_lift.estimated/tau_ext",
"shoulder_lift.estimated/tau_var",
"shoulder_lift.model/tau_motor",
"shoulder_lift.model/tau_gravity",
"shoulder_lift.model/tau_friction",
"shoulder_lift.model/tau_coriolis",
"shoulder_lift.model/tau_inertial",
"shoulder_lift.model/tau_model",
"elbow_flex.filtered/vel_rad",
"elbow_flex.estimated/tau_ext",
"elbow_flex.estimated/tau_var",
"elbow_flex.model/tau_motor",
"elbow_flex.model/tau_gravity",
"elbow_flex.model/tau_friction",
"elbow_flex.model/tau_coriolis",
"elbow_flex.model/tau_inertial",
"elbow_flex.model/tau_model",
"wrist_flex.filtered/vel_rad",
"wrist_flex.estimated/tau_ext",
"wrist_flex.estimated/tau_var",
"wrist_flex.model/tau_motor",
"wrist_flex.model/tau_gravity",
"wrist_flex.model/tau_friction",
"wrist_flex.model/tau_coriolis",
"wrist_flex.model/tau_inertial",
"wrist_flex.model/tau_model",
"wrist_roll.filtered/vel_rad",
"wrist_roll.estimated/tau_ext",
"wrist_roll.estimated/tau_var",
"wrist_roll.model/tau_motor",
"wrist_roll.model/tau_gravity",
"wrist_roll.model/tau_friction",
"wrist_roll.model/tau_coriolis",
"wrist_roll.model/tau_inertial",
"wrist_roll.model/tau_model",
"gripper.filtered/vel_rad",
"gripper.estimated/tau_ext",
"gripper.estimated/tau_var",
"gripper.model/tau_motor",
"gripper.model/tau_gravity",
"gripper.model/tau_friction",
"gripper.model/tau_coriolis",
"gripper.model/tau_inertial",
"gripper.model/tau_model",
"tcp/wrench/fx",
"tcp/wrench/fy",
"tcp/wrench/fz",
"tcp/wrench/tx",
"tcp/wrench/ty",
"tcp/wrench/tz",
"hpi/gripper/tau_ext",
"hpi/gripper/q",
"hpi/gripper/dq"
],
"shape": [
117
]
},
"observation.images.top": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {}
}
},
"observation.images.corner": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {}
}
},
"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": 1,
"total_frames": 779,
"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": "so_follower",
"splits": {
"train": "0:1"
}
}
```

## Citation

**BibTeX:**

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