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action
sequence
observation.state
sequence
timestamp
float32
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24.6
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int64
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72
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[ -15.99609375, 191.337890625, 169.189453125, 68.37890625, 1.58203125, -2.0792078971862793 ]
[ -15.8203125, 190.634765625, 170.5078125, 67.8515625, 1.142578125, -1.500441312789917 ]
2.433333
73
0
73
0
[ -15.732421875, 191.337890625, 169.189453125, 68.37890625, 1.58203125, -2.0792078971862793 ]
[ -15.8203125, 190.634765625, 170.5078125, 67.8515625, 1.142578125, -1.500441312789917 ]
2.466667
74
0
74
0
[ -15.1171875, 191.337890625, 169.189453125, 68.37890625, 1.58203125, -2.0792078971862793 ]
[ -15.8203125, 190.634765625, 170.5078125, 67.8515625, 1.142578125, -1.500441312789917 ]
2.5
75
0
75
0
[ -14.326171875, 191.337890625, 169.189453125, 68.37890625, 1.58203125, -2.178217887878418 ]
[ -15.732421875, 190.634765625, 170.5078125, 67.8515625, 1.142578125, -1.500441312789917 ]
2.533333
76
0
76
0
[ -13.447265625, 191.337890625, 168.92578125, 68.37890625, 1.318359375, -2.178217887878418 ]
[ -15.46875, 190.634765625, 170.5078125, 67.8515625, 1.142578125, -1.500441312789917 ]
2.566667
77
0
77
0
[ -12.568359375, 191.337890625, 168.92578125, 68.37890625, 1.142578125, -2.178217887878418 ]
[ -15.029296875, 190.634765625, 170.5078125, 67.8515625, 1.142578125, -1.500441312789917 ]
2.6
78
0
78
0
[ -11.77734375, 191.337890625, 168.92578125, 68.37890625, 1.142578125, -2.178217887878418 ]
[ -14.150390625, 190.634765625, 170.5078125, 67.8515625, 1.142578125, -1.500441312789917 ]
2.633333
79
0
79
0
[ -11.25, 191.337890625, 168.92578125, 68.37890625, 1.142578125, -2.178217887878418 ]
[ -13.271484375, 190.634765625, 170.5078125, 67.8515625, 1.142578125, -1.500441312789917 ]
2.666667
80
0
80
0
[ -10.72265625, 191.337890625, 168.92578125, 68.37890625, 1.142578125, -2.178217887878418 ]
[ -12.3046875, 190.634765625, 170.5078125, 67.8515625, 1.142578125, -1.500441312789917 ]
2.7
81
0
81
0
[ -10.107421875, 191.337890625, 168.92578125, 68.37890625, 1.142578125, -2.178217887878418 ]
[ -11.337890625, 190.634765625, 170.5078125, 67.8515625, 1.142578125, -1.500441312789917 ]
2.733333
82
0
82
0
[ -9.755859375, 191.337890625, 168.92578125, 68.37890625, 1.142578125, -2.178217887878418 ]
[ -10.810546875, 190.634765625, 170.5078125, 67.8515625, 1.142578125, -1.500441312789917 ]
2.766667
83
0
83
0
[ -9.4921875, 191.337890625, 168.92578125, 68.37890625, 1.23046875, -2.178217887878418 ]
[ -10.37109375, 190.634765625, 170.5078125, 67.8515625, 1.142578125, -1.500441312789917 ]
2.8
84
0
84
0
[ -9.404296875, 191.337890625, 168.92578125, 68.37890625, 1.23046875, -2.178217887878418 ]
[ -10.107421875, 190.634765625, 170.5078125, 67.8515625, 1.142578125, -1.500441312789917 ]
2.833333
85
0
85
0
[ -9.404296875, 191.337890625, 168.92578125, 68.37890625, 1.23046875, -2.178217887878418 ]
[ -9.931640625, 190.634765625, 170.5078125, 67.8515625, 1.142578125, -1.500441312789917 ]
2.866667
86
0
86
0
[ -9.404296875, 191.337890625, 168.92578125, 68.37890625, 1.23046875, -2.178217887878418 ]
[ -9.755859375, 190.634765625, 170.5078125, 67.8515625, 1.142578125, -1.500441312789917 ]
2.9
87
0
87
0
[ -9.31640625, 191.337890625, 168.92578125, 68.37890625, 1.23046875, -2.178217887878418 ]
[ -9.404296875, 190.634765625, 170.5078125, 67.8515625, 1.142578125, -1.500441312789917 ]
2.933333
88
0
88
0
[ -9.140625, 191.337890625, 168.92578125, 68.37890625, 1.318359375, -2.178217887878418 ]
[ -9.140625, 190.634765625, 170.5078125, 67.8515625, 1.142578125, -1.500441312789917 ]
2.966667
89
0
89
0
[ -9.140625, 191.337890625, 168.92578125, 68.37890625, 1.494140625, -2.178217887878418 ]
[ -8.876953125, 190.634765625, 170.5078125, 67.8515625, 1.142578125, -1.500441312789917 ]
3
90
0
90
0
[ -9.140625, 191.337890625, 168.92578125, 68.37890625, 1.494140625, -2.178217887878418 ]
[ -8.701171875, 190.634765625, 170.5078125, 67.8515625, 1.142578125, -1.500441312789917 ]
3.033333
91
0
91
0
[ -9.140625, 191.337890625, 168.92578125, 68.37890625, 1.494140625, -2.178217887878418 ]
[ -8.701171875, 190.634765625, 170.5078125, 67.8515625, 1.142578125, -1.500441312789917 ]
3.066667
92
0
92
0
[ -9.140625, 191.337890625, 168.92578125, 68.37890625, 1.494140625, -2.178217887878418 ]
[ -8.701171875, 190.634765625, 170.5078125, 67.8515625, 1.142578125, -1.500441312789917 ]
3.1
93
0
93
0
[ -9.140625, 191.337890625, 168.92578125, 68.37890625, 1.494140625, -2.178217887878418 ]
[ -8.701171875, 190.634765625, 170.5078125, 67.8515625, 1.142578125, -1.500441312789917 ]
3.133333
94
0
94
0
[ -9.052734375, 191.337890625, 168.92578125, 68.37890625, 1.58203125, -2.178217887878418 ]
[ -8.701171875, 190.634765625, 170.5078125, 67.8515625, 1.142578125, -1.500441312789917 ]
3.166667
95
0
95
0
[ -9.052734375, 191.337890625, 168.92578125, 68.37890625, 1.58203125, -2.178217887878418 ]
[ -8.701171875, 190.634765625, 170.5078125, 67.8515625, 1.142578125, -1.500441312789917 ]
3.2
96
0
96
0
[ -9.052734375, 191.337890625, 168.92578125, 68.37890625, 1.58203125, -2.178217887878418 ]
[ -8.701171875, 190.634765625, 170.5078125, 67.8515625, 1.142578125, -1.500441312789917 ]
3.233333
97
0
97
0
[ -9.052734375, 191.337890625, 168.92578125, 68.37890625, 1.58203125, -2.178217887878418 ]
[ -8.701171875, 190.634765625, 170.5078125, 67.8515625, 1.142578125, -1.500441312789917 ]
3.266667
98
0
98
0
[ -9.052734375, 191.337890625, 168.92578125, 68.37890625, 1.58203125, -2.178217887878418 ]
[ -8.701171875, 190.634765625, 170.5078125, 67.8515625, 1.142578125, -1.500441312789917 ]
3.3
99
0
99
0

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "so100",
    "total_episodes": 26,
    "total_frames": 17151,
    "total_tasks": 1,
    "total_videos": 52,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:26"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.images.endeffector": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.workspace": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "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:

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