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Datasets:
pranavsaroha
/
so100_squishy2colors

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
tutorial
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
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action
sequence
observation.state
sequence
timestamp
float32
0
26.6
frame_index
int64
0
799
episode_index
int64
0
16
index
int64
0
10.4k
task_index
int64
0
0
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71
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[ 6.943359375, 184.482421875, -228.076171875, 71.19140625, 9.4921875, -0.08453085273504257 ]
[ 4.921875, 189.66796875, -32.87109375, 71.279296875, 8.349609375, 0.5417118072509766 ]
2.4
72
0
72
0
[ 6.943359375, 180.52734375, -232.294921875, 72.0703125, 10.01953125, -0.08453085273504257 ]
[ 5.185546875, 189.052734375, -32.87109375, 71.103515625, 8.701171875, 0.5417118072509766 ]
2.433333
73
0
73
0
[ 6.943359375, 176.8359375, -236.6015625, 73.037109375, 10.546875, -0.08453085273504257 ]
[ 5.361328125, 188.4375, -32.87109375, 71.19140625, 8.96484375, 0.5417118072509766 ]
2.466667
74
0
74
0
[ 6.943359375, 173.408203125, -240.64453125, 73.740234375, 11.07421875, -0.08453085273504257 ]
[ 5.44921875, 187.822265625, -32.87109375, 71.455078125, 9.31640625, 0.5417118072509766 ]
2.5
75
0
75
0
[ 6.943359375, 170.5078125, -244.51171875, 74.00390625, 11.513671875, -0.08453085273504257 ]
[ 5.712890625, 186.943359375, -32.87109375, 71.71875, 9.755859375, 0.5417118072509766 ]
2.533333
76
0
76
0
[ 7.03125, 167.607421875, -248.466796875, 74.267578125, 11.77734375, -0.08453085273504257 ]
[ 5.80078125, 185.361328125, -32.87109375, 71.982421875, 10.107421875, 0.5417118072509766 ]
2.566667
77
0
77
0
[ 7.20703125, 163.916015625, -253.388671875, 75.41015625, 11.953125, -0.08453085273504257 ]
[ 5.80078125, 183.251953125, -32.87109375, 72.333984375, 10.37109375, 0.5417118072509766 ]
2.6
78
0
78
0
[ 7.55859375, 158.90625, -259.62890625, 78.046875, 12.3046875, -0.08453085273504257 ]
[ 5.9765625, 180.791015625, -32.87109375, 72.7734375, 10.546875, 0.5417118072509766 ]
2.633333
79
0
79
0
[ 7.734375, 152.841796875, -267.01171875, 82.177734375, 12.744140625, -0.08453085273504257 ]
[ 6.15234375, 178.06640625, -32.87109375, 73.65234375, 10.8984375, 0.5417118072509766 ]
2.666667
80
0
80
0
[ 7.734375, 146.25, 84.7265625, 86.748046875, 13.53515625, -0.08453085273504257 ]
[ 6.50390625, 174.990234375, -32.87109375, 75.498046875, 11.25, 0.5417118072509766 ]
2.7
81
0
81
0
[ 7.55859375, 139.5703125, 76.2890625, 91.58203125, 14.150390625, -0.08453085273504257 ]
[ 6.85546875, 171.5625, -32.87109375, 77.87109375, 11.513671875, 0.5417118072509766 ]
2.733333
82
0
82
0
[ 7.55859375, 133.330078125, 67.5, 96.064453125, 14.58984375, -0.08453085273504257 ]
[ 7.119140625, 167.607421875, -32.87109375, 80.68359375, 12.041015625, 0.5417118072509766 ]
2.766667
83
0
83
0
[ 7.55859375, 127.353515625, 58.88671875, 100.283203125, 14.765625, -0.08453085273504257 ]
[ 7.3828125, 163.4765625, -32.87109375, 84.55078125, 12.744140625, 0.5417118072509766 ]
2.8
84
0
84
0
[ 7.470703125, 121.81640625, 50.712890625, 103.974609375, 14.765625, -0.08453085273504257 ]
[ 7.3828125, 158.994140625, -32.87109375, 88.681640625, 13.095703125, 0.5417118072509766 ]
2.833333
85
0
85
0
[ 7.294921875, 117.333984375, 43.857421875, 106.34765625, 14.765625, -0.08453085273504257 ]
[ 7.3828125, 154.423828125, -32.87109375, 92.8125, 13.359375, 0.5417118072509766 ]
2.866667
86
0
86
0
[ 7.20703125, 115.927734375, 42.275390625, 106.171875, 14.853515625, -0.08453085273504257 ]
[ 7.3828125, 149.58984375, -32.87109375, 96.591796875, 13.53515625, 0.5417118072509766 ]
2.9
87
0
87
0
[ 6.85546875, 113.818359375, 40.4296875, 106.259765625, 14.765625, 0 ]
[ 7.20703125, 144.4921875, -32.87109375, 100.546875, 13.623046875, 0.5417118072509766 ]
2.933333
88
0
88
0
[ 6.50390625, 112.1484375, 39.7265625, 106.259765625, 14.150390625, 0 ]
[ 7.03125, 139.21875, -32.87109375, 102.568359375, 13.7109375, 0.5417118072509766 ]
2.966667
89
0
89
0
[ 6.064453125, 110.7421875, 39.7265625, 106.259765625, 13.7109375, 0 ]
[ 6.767578125, 133.857421875, -32.87109375, 103.623046875, 13.798828125, 0.5417118072509766 ]
3
90
0
90
0
[ 5.625, 109.423828125, 40.78125, 106.259765625, 13.095703125, -0.08453085273504257 ]
[ 6.591796875, 128.583984375, -32.87109375, 104.4140625, 13.623046875, 0.5417118072509766 ]
3.033333
91
0
91
0
[ 5.2734375, 108.544921875, 42.890625, 106.259765625, 11.953125, -0.08453085273504257 ]
[ 6.15234375, 124.013671875, -32.87109375, 105.029296875, 13.359375, 0.5417118072509766 ]
3.066667
92
0
92
0
[ 5.009765625, 108.017578125, 45.87890625, 106.34765625, 10.810546875, -0.08453085273504257 ]
[ 5.712890625, 119.70703125, -32.87109375, 105.380859375, 12.919921875, 0.5417118072509766 ]
3.1
93
0
93
0
[ 4.833984375, 107.75390625, 49.658203125, 106.34765625, 9.755859375, -0.08453085273504257 ]
[ 5.44921875, 116.19140625, -32.87109375, 105.64453125, 11.865234375, 0.5417118072509766 ]
3.133333
94
0
94
0
[ 4.39453125, 108.017578125, 53.876953125, 106.34765625, 9.052734375, -0.08453085273504257 ]
[ 5.09765625, 113.5546875, -32.87109375, 105.8203125, 10.8984375, 0.5417118072509766 ]
3.166667
95
0
95
0
[ 3.8671875, 108.6328125, 58.0078125, 106.34765625, 8.4375, 0 ]
[ 4.5703125, 111.4453125, -32.87109375, 105.908203125, 10.283203125, 0.5417118072509766 ]
3.2
96
0
96
0
[ 4.21875, 109.248046875, 61.69921875, 106.34765625, 7.998046875, 0.08453085273504257 ]
[ 4.306640625, 109.951171875, -32.51953125, 105.908203125, 9.580078125, 0.5417118072509766 ]
3.233333
97
0
97
0
[ 4.482421875, 109.599609375, 64.423828125, 106.34765625, 7.734375, 0.08453085273504257 ]
[ 3.69140625, 109.3359375, -30.673828125, 105.908203125, 8.7890625, 0.5417118072509766 ]
3.266667
98
0
98
0
[ 4.921875, 110.56640625, 66.62109375, 106.34765625, 7.294921875, 0.08453085273504257 ]
[ 3.515625, 109.248046875, -27.158203125, 105.908203125, 8.0859375, 0.5417118072509766 ]
3.3
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "so100",
    "total_episodes": 17,
    "total_frames": 10428,
    "total_tasks": 1,
    "total_videos": 34,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:17"
    },
    "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.laptop": {
            "dtype": "video",
            "shape": [
                1080,
                1920,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
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            "info": {
                "video.fps": 30.0,
                "video.height": 1080,
                "video.width": 1920,
                "video.channels": 3,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.phone": {
            "dtype": "video",
            "shape": [
                1080,
                1920,
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            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 30.0,
                "video.height": 1080,
                "video.width": 1920,
                "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",
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                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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