fecasado/blueberry-cubes-joy

---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- 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": "v3.0",
"robot_type": "blueberry_ros",
"total_episodes": 150,
"total_frames": 133632,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:150"
},
"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": [
26
],
"names": [
"l_arm_linear.x",
"l_arm_linear.y",
"l_arm_linear.z",
"l_arm_angular.x",
"l_arm_angular.y",
"l_arm_angular.z",
"l_hand_pinky",
"l_hand_ring",
"l_hand_middle",
"l_hand_index",
"l_hand_thumb1",
"l_hand_thumb2",
"r_arm_linear.x",
"r_arm_linear.y",
"r_arm_linear.z",
"r_arm_angular.x",
"r_arm_angular.y",
"r_arm_angular.z",
"r_hand_pinky",
"r_hand_ring",
"r_hand_middle",
"r_hand_index",
"r_hand_thumb1",
"r_hand_thumb2",
"base_joy.x",
"base_joy.y"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
52
],
"names": [
"l_arm_j1.pos",
"l_arm_j2.pos",
"l_arm_j3.pos",
"l_arm_j4.pos",
"l_arm_j5.pos",
"l_arm_j6.pos",
"l_arm_j7.pos",
"l_hand_pinky.pos",
"l_hand_ring.pos",
"l_hand_middle.pos",
"l_hand_index.pos",
"l_hand_thumb1.pos",
"l_hand_thumb2.pos",
"r_arm_j1.pos",
"r_arm_j2.pos",
"r_arm_j3.pos",
"r_arm_j4.pos",
"r_arm_j5.pos",
"r_arm_j6.pos",
"r_arm_j7.pos",
"r_hand_pinky.pos",
"r_hand_ring.pos",
"r_hand_middle.pos",
"r_hand_index.pos",
"r_hand_thumb1.pos",
"r_hand_thumb2.pos",
"l_arm_j1.effort",
"l_arm_j2.effort",
"l_arm_j3.effort",
"l_arm_j4.effort",
"l_arm_j5.effort",
"l_arm_j6.effort",
"l_arm_j7.effort",
"l_hand_pinky.effort",
"l_hand_ring.effort",
"l_hand_middle.effort",
"l_hand_index.effort",
"l_hand_thumb1.effort",
"l_hand_thumb2.effort",
"r_arm_j1.effort",
"r_arm_j2.effort",
"r_arm_j3.effort",
"r_arm_j4.effort",
"r_arm_j5.effort",
"r_arm_j6.effort",
"r_arm_j7.effort",
"r_hand_pinky.effort",
"r_hand_ring.effort",
"r_hand_middle.effort",
"r_hand_index.effort",
"r_hand_thumb1.effort",
"r_hand_thumb2.effort"
]
},
"observation.images.left": {
"dtype": "video",
"shape": [
240,
320,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 240,
"video.width": 320,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.right": {
"dtype": "video",
"shape": [
240,
320,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 240,
"video.width": 320,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"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]
```