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Datasets:
Beegbrain
/
oc_cubes_to_bin

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
cubes
moss arm
bin
Libraries:
Datasets
Dask
License:
Dataset card Viewer Files Community
1
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action
sequence
observation.state
sequence
timestamp
float32
0
26.1
frame_index
int64
0
783
episode_index
int64
0
49
index
int64
0
22.2k
task_index
int64
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2.433333
73
0
73
0
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[ 30.322265625, 97.646484375, 89.47265625, 74.53125, -3.779296875, 0.5586591958999634 ]
2.466667
74
0
74
0
[ 31.376953125, 88.681640625, 82.44140625, 75.76171875, -5.009765625, 0 ]
[ 30.9375, 95.361328125, 88.59375, 75.146484375, -4.130859375, 0.5586591958999634 ]
2.5
75
0
75
0
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[ 31.025390625, 92.98828125, 87.802734375, 75.234375, -4.39453125, 0.5586591958999634 ]
2.533333
76
0
76
0
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2.566667
77
0
77
0
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[ 30.849609375, 88.330078125, 85.869140625, 75.234375, -4.39453125, 0.5586591958999634 ]
2.6
78
0
78
0
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[ 30.5859375, 86.220703125, 84.90234375, 75.05859375, -3.8671875, 0.5586591958999634 ]
2.633333
79
0
79
0
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[ 30.673828125, 83.671875, 83.759765625, 74.970703125, -3.076171875, 0.5586591958999634 ]
2.666667
80
0
80
0
[ 31.81640625, 75.234375, 71.455078125, 77.87109375, 0.439453125, 0 ]
[ 30.9375, 81.03515625, 82.08984375, 75.322265625, -2.021484375, 0.5586591958999634 ]
2.7
81
0
81
0
[ 31.640625, 73.30078125, 69.08203125, 78.57421875, 0.791015625, 0 ]
[ 31.201171875, 78.662109375, 80.244140625, 76.025390625, -1.318359375, 0.5586591958999634 ]
2.733333
82
0
82
0
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[ 31.376953125, 76.46484375, 78.310546875, 76.552734375, -0.87890625, 0.5586591958999634 ]
2.766667
83
0
83
0
[ 31.2890625, 69.609375, 64.775390625, 78.75, 0.966796875, 0 ]
[ 31.376953125, 74.267578125, 76.2890625, 77.16796875, -0.615234375, 0.5586591958999634 ]
2.8
84
0
84
0
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[ 31.376953125, 72.158203125, 74.35546875, 77.607421875, -0.439453125, 0.5586591958999634 ]
2.833333
85
0
85
0
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[ 31.025390625, 70.048828125, 72.0703125, 77.87109375, -0.263671875, 0.5586591958999634 ]
2.866667
86
0
86
0
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[ 30.76171875, 67.939453125, 69.78515625, 78.3984375, 0.17578125, 0.5586591958999634 ]
2.9
87
0
87
0
[ 30.322265625, 61.962890625, 52.294921875, 85.166015625, 1.142578125, 0 ]
[ 30.498046875, 65.91796875, 67.5, 79.189453125, 0.439453125, 0.5586591958999634 ]
2.933333
88
0
88
0
[ 29.8828125, 60.29296875, 49.39453125, 85.95703125, 0.966796875, 0.3683241307735443 ]
[ 30.41015625, 63.80859375, 64.775390625, 80.244140625, 0.615234375, 0.5586591958999634 ]
2.966667
89
0
89
0
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[ 30.322265625, 61.787109375, 61.875, 81.73828125, 0.615234375, 0.5586591958999634 ]
3
90
0
90
0
[ 29.091796875, 57.744140625, 44.384765625, 88.505859375, 1.669921875, 3.867403268814087 ]
[ 30.146484375, 59.94140625, 59.0625, 83.14453125, 0.439453125, 0.5586591958999634 ]
3.033333
91
0
91
0
[ 28.828125, 56.77734375, 42.71484375, 88.681640625, 1.669921875, 4.60405158996582 ]
[ 29.8828125, 58.271484375, 56.25, 84.375, 0.3515625, 0.8379888534545898 ]
3.066667
92
0
92
0
[ 28.388671875, 55.8984375, 41.572265625, 88.857421875, 1.23046875, 6.629834175109863 ]
[ 29.53125, 56.513671875, 53.173828125, 85.869140625, 0.52734375, 1.6759777069091797 ]
3.1
93
0
93
0
[ 28.125, 55.37109375, 41.1328125, 88.681640625, 0.87890625, 12.062615394592285 ]
[ 29.091796875, 55.37109375, 50.888671875, 86.66015625, 0.703125, 2.3743016719818115 ]
3.133333
94
0
94
0
[ 27.94921875, 54.755859375, 40.78125, 89.033203125, 1.142578125, 21.17863655090332 ]
[ 28.65234375, 54.404296875, 48.8671875, 87.1875, 0.791015625, 3.2122905254364014 ]
3.166667
95
0
95
0
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[ 28.212890625, 53.7890625, 47.373046875, 87.626953125, 0.52734375, 5.0977654457092285 ]
3.2
96
0
96
0
[ 27.421875, 53.701171875, 40.341796875, 90.087890625, -0.3515625, 29.281768798828125 ]
[ 27.7734375, 52.998046875, 45.966796875, 88.2421875, 0.703125, 8.170391082763672 ]
3.233333
97
0
97
0
[ 27.421875, 53.4375, 40.693359375, 90.087890625, -0.87890625, 30.38673973083496 ]
[ 27.421875, 52.646484375, 45.087890625, 88.59375, 0.703125, 11.731843948364258 ]
3.266667
98
0
98
0
[ 27.333984375, 53.349609375, 41.1328125, 90.087890625, -1.23046875, 31.49171257019043 ]
[ 27.158203125, 52.119140625, 44.47265625, 89.208984375, 0.52734375, 15.92178726196289 ]
3.3
99
0
99
0
End of preview. Expand in Dataset Viewer.

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "moss",
    "total_episodes": 50,
    "total_frames": 22194,
    "total_tasks": 1,
    "total_videos": 100,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
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    "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": {
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            "names": [
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                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
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        },
        "observation.images.realsense": {
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    }
}

Citation

BibTeX:

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License:
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