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Datasets:
Trelis
/
so100_test2

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 Community
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action
sequence
observation.state
sequence
timestamp
float32
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17.8
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int64
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533
episode_index
int64
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int64
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[ 79.189453125, 185.80078125, 152.314453125, 66.884765625, 91.318359375, 0.7142857313156128 ]
2.5
75
0
75
0
[ 74.70703125, 176.1328125, 139.658203125, 66.97265625, 91.40625, 1.0077519416809082 ]
[ 78.046875, 185.09765625, 149.94140625, 66.97265625, 91.23046875, 0.7142857313156128 ]
2.533333
76
0
76
0
[ 74.00390625, 170.859375, 136.318359375, 66.62109375, 91.40625, 1.0077519416809082 ]
[ 76.81640625, 182.548828125, 147.568359375, 66.97265625, 91.23046875, 0.7142857313156128 ]
2.566667
77
0
77
0
[ 73.30078125, 165.5859375, 133.154296875, 66.533203125, 91.40625, 1.0077519416809082 ]
[ 75.9375, 179.208984375, 144.931640625, 66.97265625, 91.23046875, 0.7142857313156128 ]
2.6
78
0
78
0
[ 72.24609375, 161.3671875, 130.341796875, 66.796875, 91.318359375, 1.0077519416809082 ]
[ 75.146484375, 174.55078125, 141.767578125, 67.060546875, 91.23046875, 0.7142857313156128 ]
2.633333
79
0
79
0
[ 70.751953125, 158.291015625, 128.49609375, 66.884765625, 91.318359375, 1.0077519416809082 ]
[ 74.1796875, 169.8046875, 139.04296875, 67.060546875, 91.23046875, 0.7142857313156128 ]
2.666667
80
0
80
0
[ 68.994140625, 156.26953125, 127.44140625, 66.796875, 91.318359375, 1.0077519416809082 ]
[ 73.037109375, 165.498046875, 136.318359375, 67.060546875, 91.142578125, 0.7142857313156128 ]
2.7
81
0
81
0
[ 67.060546875, 154.775390625, 126.9140625, 66.533203125, 91.318359375, 1.0077519416809082 ]
[ 71.806640625, 161.806640625, 134.208984375, 67.060546875, 91.142578125, 0.7142857313156128 ]
2.733333
82
0
82
0
[ 65.126953125, 153.6328125, 126.73828125, 66.357421875, 91.318359375, 1.0077519416809082 ]
[ 70.3125, 159.08203125, 132.890625, 67.060546875, 91.142578125, 0.7142857313156128 ]
2.766667
83
0
83
0
[ 63.28125, 152.75390625, 126.650390625, 66.181640625, 91.318359375, 1.0077519416809082 ]
[ 68.5546875, 157.32421875, 132.1875, 67.060546875, 91.142578125, 0.7142857313156128 ]
2.8
84
0
84
0
[ 61.435546875, 151.787109375, 126.650390625, 66.005859375, 91.318359375, 1.0077519416809082 ]
[ 66.708984375, 155.654296875, 131.572265625, 67.060546875, 91.142578125, 0.7142857313156128 ]
2.833333
85
0
85
0
[ 59.58984375, 150.8203125, 126.650390625, 65.830078125, 91.318359375, 1.0852713584899902 ]
[ 64.86328125, 154.16015625, 131.220703125, 67.060546875, 91.142578125, 0.7142857313156128 ]
2.866667
86
0
86
0
[ 58.18359375, 150.1171875, 126.650390625, 65.7421875, 91.318359375, 1.0852713584899902 ]
[ 63.369140625, 153.10546875, 131.044921875, 67.060546875, 91.142578125, 0.7142857313156128 ]
2.9
87
0
87
0
[ 56.953125, 149.58984375, 126.73828125, 65.7421875, 91.23046875, 1.0852713584899902 ]
[ 61.259765625, 151.962890625, 130.95703125, 66.97265625, 91.142578125, 0.7142857313156128 ]
2.933333
88
0
88
0
[ 55.986328125, 149.4140625, 126.826171875, 65.654296875, 91.23046875, 1.0852713584899902 ]
[ 59.94140625, 151.083984375, 130.869140625, 66.97265625, 91.142578125, 0.7142857313156128 ]
2.966667
89
0
89
0
[ 55.107421875, 149.326171875, 127.001953125, 65.56640625, 91.23046875, 1.0852713584899902 ]
[ 58.623046875, 150.556640625, 130.869140625, 66.97265625, 91.142578125, 0.7142857313156128 ]
3
90
0
90
0
[ 54.228515625, 149.326171875, 127.353515625, 65.21484375, 91.23046875, 1.1627906560897827 ]
[ 57.48046875, 150.1171875, 130.869140625, 66.97265625, 91.142578125, 0.7142857313156128 ]
3.033333
91
0
91
0
[ 53.26171875, 149.0625, 127.705078125, 64.775390625, 91.23046875, 1.1627906560897827 ]
[ 56.513671875, 149.94140625, 130.869140625, 66.708984375, 91.142578125, 0.7142857313156128 ]
3.066667
92
0
92
0
[ 52.294921875, 148.447265625, 127.79296875, 64.6875, 91.23046875, 1.1627906560897827 ]
[ 55.546875, 149.58984375, 130.869140625, 66.4453125, 91.142578125, 0.7142857313156128 ]
3.1
93
0
93
0
[ 51.767578125, 147.83203125, 127.79296875, 64.248046875, 91.142578125, 1.1627906560897827 ]
[ 54.31640625, 149.150390625, 130.869140625, 66.09375, 91.142578125, 0.8571428060531616 ]
3.133333
94
0
94
0
[ 51.064453125, 147.216796875, 127.880859375, 63.896484375, 90.87890625, 1.2403100728988647 ]
[ 53.61328125, 148.7109375, 130.869140625, 65.830078125, 91.142578125, 0.9285714626312256 ]
3.166667
95
0
95
0
[ 50.537109375, 146.6015625, 127.880859375, 63.720703125, 90.17578125, 1.2403100728988647 ]
[ 52.91015625, 148.095703125, 130.869140625, 65.56640625, 91.142578125, 0.9285714626312256 ]
3.2
96
0
96
0
[ 50.185546875, 146.07421875, 127.880859375, 63.369140625, 88.9453125, 1.2403100728988647 ]
[ 52.20703125, 147.568359375, 130.869140625, 65.302734375, 90.966796875, 0.9285714626312256 ]
3.233333
97
0
97
0
[ 49.921875, 145.37109375, 127.705078125, 63.28125, 87.5390625, 1.2403100728988647 ]
[ 51.591796875, 147.041015625, 130.869140625, 64.951171875, 90.17578125, 0.9285714626312256 ]
3.266667
98
0
98
0
[ 49.658203125, 144.931640625, 127.44140625, 63.369140625, 85.95703125, 1.2403100728988647 ]
[ 51.15234375, 146.337890625, 130.869140625, 64.599609375, 89.296875, 0.9285714626312256 ]
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": "v2.1",
    "robot_type": "so100",
    "total_episodes": 2,
    "total_frames": 868,
    "total_tasks": 1,
    "total_videos": 4,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:2"
    },
    "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.Context": {
            "dtype": "video",
            "shape": [
                1080,
                1920,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 1080,
                "video.width": 1920,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.Wrist": {
            "dtype": "video",
            "shape": [
                800,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 800,
                "video.width": 1280,
                "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:

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License:
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Size of downloaded dataset files:
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Number of rows:
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