Elianak/act_v3_2d

---
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).

## 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": "frank",
"total_episodes": 450,
"total_frames": 115875,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 20,
"splits": {
"train": "0:450"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": null,
"features": {
"action": {
"dtype": "float32",
"shape": [
16
],
"names": [
"action_0",
"action_1",
"action_2",
"action_3",
"action_4",
"action_5",
"action_6",
"action_7",
"action_8",
"action_9",
"action_10",
"action_11",
"action_12",
"action_13",
"action_14",
"action_15"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
46
],
"names": [
"left_pos_cos_0",
"left_pos_cos_1",
"left_pos_cos_2",
"left_pos_cos_3",
"left_pos_cos_4",
"left_pos_cos_5",
"left_pos_cos_6",
"left_pos_sin_0",
"left_pos_sin_1",
"left_pos_sin_2",
"left_pos_sin_3",
"left_pos_sin_4",
"left_pos_sin_5",
"left_pos_sin_6",
"right_pos_cos_0",
"right_pos_cos_1",
"right_pos_cos_2",
"right_pos_cos_3",
"right_pos_cos_4",
"right_pos_cos_5",
"right_pos_cos_6",
"right_pos_sin_0",
"right_pos_sin_1",
"right_pos_sin_2",
"right_pos_sin_3",
"right_pos_sin_4",
"right_pos_sin_5",
"right_pos_sin_6",
"left_pos_7",
"right_pos_7",
"left_gripper_integral",
"right_gripper_integral",
"left_ee_pos_x",
"left_ee_pos_y",
"left_ee_pos_z",
"right_ee_pos_x",
"right_ee_pos_y",
"right_ee_pos_z",
"left_ee_quat_w",
"left_ee_quat_x",
"left_ee_quat_y",
"left_ee_quat_z",
"right_ee_quat_w",
"right_ee_quat_x",
"right_ee_quat_y",
"right_ee_quat_z"
]
},
"observation.environment_state": {
"dtype": "float32",
"shape": [
14
],
"names": [
"target_cube_pos_x",
"target_cube_pos_y",
"target_cube_pos_z",
"orange_cube_pos_x",
"orange_cube_pos_y",
"orange_cube_pos_z",
"target_cube_quat_w",
"target_cube_quat_x",
"target_cube_quat_y",
"target_cube_quat_z",
"orange_cube_quat_w",
"orange_cube_quat_x",
"orange_cube_quat_y",
"orange_cube_quat_z"
]
},
"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]
```