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This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "so101_follower",
    "total_episodes": 0,
    "total_frames": 0,
    "total_tasks": 0,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 30,
    "splits": {},
    "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": [
                "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_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
            ]
        },
        "observation.images.handeye": {
            "dtype": "video",
            "shape": [
                360,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ]
        },
        "observation.images.fixed": {
            "dtype": "video",
            "shape": [
                360,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ]
        },
        "observation.tactile": {
            "dtype": "float32",
            "shape": [
                207
            ],
            "names": [
                "tactile.force_000.x",
                "tactile.force_000.y",
                "tactile.force_000.z",
                "tactile.force_001.x",
                "tactile.force_001.y",
                "tactile.force_001.z",
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                "tactile.force_002.y",
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                "tactile.force_003.x",
                "tactile.force_003.y",
                "tactile.force_003.z",
                "tactile.force_004.x",
                "tactile.force_004.y",
                "tactile.force_004.z",
                "tactile.force_005.x",
                "tactile.force_005.y",
                "tactile.force_005.z",
                "tactile.force_006.x",
                "tactile.force_006.y",
                "tactile.force_006.z",
                "tactile.force_007.x",
                "tactile.force_007.y",
                "tactile.force_007.z",
                "tactile.force_008.x",
                "tactile.force_008.y",
                "tactile.force_008.z",
                "tactile.force_009.x",
                "tactile.force_009.y",
                "tactile.force_009.z",
                "tactile.force_010.x",
                "tactile.force_010.y",
                "tactile.force_010.z",
                "tactile.force_011.x",
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                "tactile.force_012.x",
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                "tactile.force_013.x",
                "tactile.force_013.y",
                "tactile.force_013.z",
                "tactile.force_014.x",
                "tactile.force_014.y",
                "tactile.force_014.z",
                "tactile.force_015.x",
                "tactile.force_015.y",
                "tactile.force_015.z",
                "tactile.force_016.x",
                "tactile.force_016.y",
                "tactile.force_016.z",
                "tactile.force_017.x",
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                "tactile.force_017.z",
                "tactile.force_018.x",
                "tactile.force_018.y",
                "tactile.force_018.z",
                "tactile.force_019.x",
                "tactile.force_019.y",
                "tactile.force_019.z",
                "tactile.force_020.x",
                "tactile.force_020.y",
                "tactile.force_020.z",
                "tactile.force_021.x",
                "tactile.force_021.y",
                "tactile.force_021.z",
                "tactile.force_022.x",
                "tactile.force_022.y",
                "tactile.force_022.z",
                "tactile.force_023.x",
                "tactile.force_023.y",
                "tactile.force_023.z",
                "tactile.force_024.x",
                "tactile.force_024.y",
                "tactile.force_024.z",
                "tactile.force_025.x",
                "tactile.force_025.y",
                "tactile.force_025.z",
                "tactile.force_026.x",
                "tactile.force_026.y",
                "tactile.force_026.z",
                "tactile.force_027.x",
                "tactile.force_027.y",
                "tactile.force_027.z",
                "tactile.force_028.x",
                "tactile.force_028.y",
                "tactile.force_028.z",
                "tactile.force_029.x",
                "tactile.force_029.y",
                "tactile.force_029.z",
                "tactile.force_030.x",
                "tactile.force_030.y",
                "tactile.force_030.z",
                "tactile.force_031.x",
                "tactile.force_031.y",
                "tactile.force_031.z",
                "tactile.force_032.x",
                "tactile.force_032.y",
                "tactile.force_032.z",
                "tactile.force_033.x",
                "tactile.force_033.y",
                "tactile.force_033.z",
                "tactile.force_034.x",
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                "tactile.force_036.x",
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                "tactile.force_044.y",
                "tactile.force_044.z",
                "tactile.force_045.x",
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                "tactile.force_045.z",
                "tactile.force_046.x",
                "tactile.force_046.y",
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                "tactile.force_047.x",
                "tactile.force_047.y",
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                "tactile.force_048.z",
                "tactile.force_049.x",
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                "tactile.force_050.x",
                "tactile.force_050.y",
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                "tactile.force_051.x",
                "tactile.force_051.y",
                "tactile.force_051.z",
                "tactile.force_052.x",
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                "tactile.force_052.z",
                "tactile.force_053.x",
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                "tactile.force_055.x",
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                "tactile.force_055.z",
                "tactile.force_056.x",
                "tactile.force_056.y",
                "tactile.force_056.z",
                "tactile.force_057.x",
                "tactile.force_057.y",
                "tactile.force_057.z",
                "tactile.force_058.x",
                "tactile.force_058.y",
                "tactile.force_058.z",
                "tactile.force_059.x",
                "tactile.force_059.y",
                "tactile.force_059.z",
                "tactile.force_060.x",
                "tactile.force_060.y",
                "tactile.force_060.z",
                "tactile.force_061.x",
                "tactile.force_061.y",
                "tactile.force_061.z",
                "tactile.force_062.x",
                "tactile.force_062.y",
                "tactile.force_062.z",
                "tactile.force_063.x",
                "tactile.force_063.y",
                "tactile.force_063.z",
                "tactile.force_064.x",
                "tactile.force_064.y",
                "tactile.force_064.z",
                "tactile.force_065.x",
                "tactile.force_065.y",
                "tactile.force_065.z",
                "tactile.force_066.x",
                "tactile.force_066.y",
                "tactile.force_066.z",
                "tactile.force_067.x",
                "tactile.force_067.y",
                "tactile.force_067.z",
                "tactile.resultant.x",
                "tactile.resultant.y",
                "tactile.resultant.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:

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