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Datasets:
Beegbrain
/
moss_open_drawer_teabox

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
moss
so100
open drawer
open
drawer
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
1
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action
sequence
observation.state
sequence
timestamp
float32
0
19.6
frame_index
int64
0
391
episode_index
int64
0
29
index
int64
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8.36k
task_index
int64
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2.7
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2.9
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2.95
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3
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3.05
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3.1
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3.15
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3.2
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3.25
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3.3
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3.35
67
0
67
0
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3.4
68
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3.45
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3.5
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3.55
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3.6
72
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3.65
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3.7
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3.75
75
0
75
0
[ 47.197265625, 117.24609375, 75.322265625, 81.9140625, -79.013671875, 30.32069969177246 ]
[ 46.58203125, 117.59765625, 74.70703125, 84.462890625, -80.419921875, 19.680465698242188 ]
3.8
76
0
76
0
[ 47.197265625, 116.3671875, 75.76171875, 80.419921875, -78.662109375, 32.069969177246094 ]
[ 46.845703125, 117.0703125, 74.794921875, 83.84765625, -79.716796875, 22.65795135498047 ]
3.85
77
0
77
0
[ 47.28515625, 115.3125, 76.025390625, 79.27734375, -78.837890625, 32.069969177246094 ]
[ 47.109375, 116.89453125, 75.498046875, 82.6171875, -79.1015625, 25.70806121826172 ]
3.9
78
0
78
0
[ 47.373046875, 113.90625, 75.849609375, 78.75, -79.013671875, 33.91642379760742 ]
[ 46.669921875, 116.015625, 75.9375, 81.5625, -78.57421875, 28.467683792114258 ]
3.95
79
0
79
0
[ 47.373046875, 112.5, 75.76171875, 77.958984375, -79.013671875, 34.30514907836914 ]
[ 46.669921875, 114.873046875, 76.46484375, 80.5078125, -78.3984375, 30.065359115600586 ]
4
80
0
80
0
[ 47.63671875, 110.7421875, 75.76171875, 76.640625, -79.189453125, 34.11078643798828 ]
[ 46.669921875, 113.291015625, 76.46484375, 79.541015625, -78.662109375, 31.517791748046875 ]
4.05
81
0
81
0
[ 47.98828125, 108.896484375, 75.76171875, 74.794921875, -79.189453125, 34.013607025146484 ]
[ 46.7578125, 111.884765625, 76.46484375, 78.57421875, -78.75, 32.60711669921875 ]
4.1
82
0
82
0
[ 48.603515625, 107.05078125, 75.5859375, 73.125, -79.27734375, 34.013607025146484 ]
[ 46.845703125, 110.126953125, 76.46484375, 77.51953125, -78.75, 33.18809127807617 ]
4.15
83
0
83
0
[ 49.482421875, 105.380859375, 75.146484375, 71.630859375, -79.541015625, 34.013607025146484 ]
[ 47.021484375, 108.369140625, 76.46484375, 76.025390625, -78.75, 33.55119705200195 ]
4.2
84
0
84
0
[ 50.537109375, 103.974609375, 74.8828125, 69.78515625, -79.892578125, 34.013607025146484 ]
[ 47.724609375, 106.787109375, 76.46484375, 74.794921875, -78.75, 33.696441650390625 ]
4.25
85
0
85
0
[ 51.328125, 103.0078125, 74.794921875, 68.203125, -80.33203125, 34.013607025146484 ]
[ 48.515625, 104.853515625, 76.46484375, 73.125, -78.75, 33.8416862487793 ]
4.3
86
0
86
0
[ 52.20703125, 102.392578125, 74.794921875, 66.884765625, -80.771484375, 33.43051528930664 ]
[ 49.658203125, 103.271484375, 76.376953125, 71.54296875, -78.75, 33.76906204223633 ]
4.35
87
0
87
0
[ 52.998046875, 102.041015625, 74.8828125, 65.830078125, -81.38671875, 32.750244140625 ]
[ 50.80078125, 102.3046875, 76.376953125, 70.13671875, -79.189453125, 33.76906204223633 ]
4.4
88
0
88
0
[ 53.61328125, 102.041015625, 75.234375, 64.6875, -81.650390625, 32.750244140625 ]
[ 51.240234375, 101.513671875, 76.376953125, 68.466796875, -79.8046875, 33.18809127807617 ]
4.45
89
0
89
0
[ 54.140625, 102.041015625, 75.322265625, 64.3359375, -82.001953125, 32.750244140625 ]
[ 51.767578125, 101.337890625, 76.376953125, 67.1484375, -80.419921875, 32.60711669921875 ]
4.5
90
0
90
0
[ 54.66796875, 102.041015625, 75.41015625, 63.80859375, -82.6171875, 32.555877685546875 ]
[ 52.55859375, 101.25, 76.46484375, 66.09375, -80.771484375, 32.31663131713867 ]
4.55
91
0
91
0
[ 55.01953125, 102.041015625, 75.673828125, 62.841796875, -82.96875, 32.361515045166016 ]
[ 53.0859375, 101.25, 76.46484375, 65.390625, -81.38671875, 32.2440071105957 ]
4.6
92
0
92
0
[ 55.283203125, 102.216796875, 76.11328125, 61.875, -83.408203125, 32.361515045166016 ]
[ 54.052734375, 101.25, 76.46484375, 64.423828125, -81.650390625, 32.2440071105957 ]
4.65
93
0
93
0
[ 55.458984375, 102.48046875, 76.728515625, 60.8203125, -83.759765625, 31.972789764404297 ]
[ 54.66796875, 101.25, 76.46484375, 63.45703125, -81.826171875, 32.2440071105957 ]
4.7
94
0
94
0
[ 55.546875, 102.65625, 77.34375, 59.853515625, -83.935546875, 31.972789764404297 ]
[ 54.755859375, 101.25, 76.81640625, 62.490234375, -82.44140625, 32.02614212036133 ]
4.75
95
0
95
0
[ 55.546875, 102.744140625, 78.134765625, 59.23828125, -84.111328125, 31.972789764404297 ]
[ 54.66796875, 101.25, 77.16796875, 61.5234375, -82.6171875, 31.517791748046875 ]
4.8
96
0
96
0
[ 55.546875, 102.83203125, 78.92578125, 58.271484375, -84.111328125, 31.972789764404297 ]
[ 54.228515625, 101.25, 78.046875, 60.732421875, -82.880859375, 31.227306365966797 ]
4.85
97
0
97
0
[ 55.546875, 102.744140625, 79.716796875, 57.041015625, -84.111328125, 31.972789764404297 ]
[ 54.228515625, 101.25, 78.75, 60.1171875, -83.408203125, 31.15468406677246 ]
4.9
98
0
98
0
[ 55.634765625, 102.48046875, 80.33203125, 56.25, -84.375, 31.972789764404297 ]
[ 54.228515625, 101.25, 79.27734375, 59.23828125, -83.583984375, 31.082061767578125 ]
4.95
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": "moss",
    "total_episodes": 30,
    "total_frames": 8357,
    "total_tasks": 1,
    "total_videos": 60,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 20,
    "splits": {
        "train": "0:30"
    },
    "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.front": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
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            "info": {
                "video.fps": 20.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "observation.images.back": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.fps": 20.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
                "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
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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