T-K-233/bhla_dataset

---
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=T-K-233/bhla_dataset">
<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": "bhla",
"total_episodes": 3,
"total_frames": 1718,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:3"
},
"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",
"names": [
"left_shoulder_pitch.pos",
"left_shoulder_roll.pos",
"left_shoulder_yaw.pos",
"left_elbow_pitch.pos",
"left_wrist_yaw.pos",
"left_wrist_roll.pos",
"left_wrist_pitch.pos",
"right_shoulder_pitch.pos",
"right_shoulder_roll.pos",
"right_shoulder_yaw.pos",
"right_elbow_pitch.pos",
"right_wrist_yaw.pos",
"right_wrist_roll.pos",
"right_wrist_pitch.pos"
],
"shape": [
14
]
},
"observation.state": {
"dtype": "float32",
"names": [
"left_shoulder_pitch.pos",
"left_shoulder_pitch.vel",
"left_shoulder_pitch.torque",
"left_shoulder_pitch.temp",
"left_shoulder_roll.pos",
"left_shoulder_roll.vel",
"left_shoulder_roll.torque",
"left_shoulder_roll.temp",
"left_shoulder_yaw.pos",
"left_shoulder_yaw.vel",
"left_shoulder_yaw.torque",
"left_shoulder_yaw.temp",
"left_elbow_pitch.pos",
"left_elbow_pitch.vel",
"left_elbow_pitch.torque",
"left_elbow_pitch.temp",
"left_wrist_yaw.pos",
"left_wrist_yaw.vel",
"left_wrist_yaw.torque",
"left_wrist_yaw.temp",
"left_wrist_roll.pos",
"left_wrist_roll.vel",
"left_wrist_roll.torque",
"left_wrist_roll.temp",
"left_wrist_pitch.pos",
"left_wrist_pitch.vel",
"left_wrist_pitch.torque",
"left_wrist_pitch.temp",
"right_shoulder_pitch.pos",
"right_shoulder_pitch.vel",
"right_shoulder_pitch.torque",
"right_shoulder_pitch.temp",
"right_shoulder_roll.pos",
"right_shoulder_roll.vel",
"right_shoulder_roll.torque",
"right_shoulder_roll.temp",
"right_shoulder_yaw.pos",
"right_shoulder_yaw.vel",
"right_shoulder_yaw.torque",
"right_shoulder_yaw.temp",
"right_elbow_pitch.pos",
"right_elbow_pitch.vel",
"right_elbow_pitch.torque",
"right_elbow_pitch.temp",
"right_wrist_yaw.pos",
"right_wrist_yaw.vel",
"right_wrist_yaw.torque",
"right_wrist_yaw.temp",
"right_wrist_roll.pos",
"right_wrist_roll.vel",
"right_wrist_roll.torque",
"right_wrist_roll.temp",
"right_wrist_pitch.pos",
"right_wrist_pitch.vel",
"right_wrist_pitch.torque",
"right_wrist_pitch.temp"
],
"shape": [
56
]
},
"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]
```