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Datasets:
Beegbrain
/
moss_put_cube_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:
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action
sequence
observation.state
sequence
timestamp
float32
0
19
frame_index
int64
0
380
episode_index
int64
0
29
index
int64
0
8.64k
task_index
int64
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0
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2
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2.05
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2.25
45
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45
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2.35
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2.45
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2.5
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2.55
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2.6
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2.65
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2.7
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2.75
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2.8
56
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2.85
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2.9
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2.95
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3
60
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3.05
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3.1
62
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3.15
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3.2
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3.25
65
0
65
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3.3
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3.35
67
0
67
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3.4
68
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68
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3.45
69
0
69
0
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3.5
70
0
70
0
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3.55
71
0
71
0
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3.6
72
0
72
0
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3.65
73
0
73
0
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3.7
74
0
74
0
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3.75
75
0
75
0
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3.8
76
0
76
0
[ -5.80078125, 95.2734375, 58.18359375, 104.150390625, 23.203125, 0 ]
[ -4.658203125, 98.4375, 63.28125, 103.53515625, 22.060546875, 0.14524328708648682 ]
3.85
77
0
77
0
[ -5.80078125, 93.33984375, 56.6015625, 104.0625, 23.291015625, 0 ]
[ -4.658203125, 96.591796875, 62.40234375, 103.7109375, 22.412109375, 0.14524328708648682 ]
3.9
78
0
78
0
[ -5.80078125, 91.23046875, 55.01953125, 103.7109375, 23.37890625, 0 ]
[ -4.658203125, 94.833984375, 60.99609375, 103.88671875, 22.67578125, 0.14524328708648682 ]
3.95
79
0
79
0
[ -5.80078125, 88.9453125, 52.998046875, 103.623046875, 23.642578125, 0 ]
[ -4.658203125, 92.724609375, 59.765625, 103.88671875, 22.67578125, 0.14524328708648682 ]
4
80
0
80
0
[ -5.80078125, 86.572265625, 51.15234375, 103.623046875, 23.994140625, 0 ]
[ -4.658203125, 90.703125, 58.0078125, 103.88671875, 22.67578125, 0.14524328708648682 ]
4.05
81
0
81
0
[ -5.888671875, 84.287109375, 49.130859375, 103.623046875, 24.43359375, 0 ]
[ -4.658203125, 88.330078125, 56.25, 103.88671875, 22.67578125, 0.14524328708648682 ]
4.1
82
0
82
0
[ -6.15234375, 82.177734375, 47.021484375, 103.798828125, 25.13671875, 0 ]
[ -4.658203125, 86.044921875, 54.4921875, 103.88671875, 23.115234375, 0.14524328708648682 ]
4.15
83
0
83
0
[ -6.6796875, 80.068359375, 44.82421875, 104.4140625, 25.927734375, 0 ]
[ -4.658203125, 83.671875, 52.734375, 103.88671875, 23.818359375, 0.14524328708648682 ]
4.2
84
0
84
0
[ -7.20703125, 77.87109375, 42.802734375, 105.029296875, 26.89453125, 0 ]
[ -4.833984375, 81.474609375, 50.625, 104.0625, 24.2578125, 0.14524328708648682 ]
4.25
85
0
85
0
[ -7.822265625, 75.673828125, 40.95703125, 105.556640625, 28.037109375, 0 ]
[ -5.361328125, 79.27734375, 48.251953125, 104.4140625, 24.78515625, 0.14524328708648682 ]
4.3
86
0
86
0
[ -8.349609375, 73.65234375, 39.55078125, 106.611328125, 29.619140625, 0 ]
[ -6.064453125, 76.81640625, 46.142578125, 104.765625, 25.927734375, 0.14524328708648682 ]
4.35
87
0
87
0
[ -8.7890625, 71.89453125, 38.671875, 107.05078125, 30.322265625, 0 ]
[ -7.119140625, 74.53125, 44.384765625, 105.1171875, 26.982421875, 0.14524328708648682 ]
4.4
88
0
88
0
[ -9.228515625, 70.48828125, 38.408203125, 107.2265625, 31.025390625, 0 ]
[ -7.646484375, 72.158203125, 43.06640625, 106.083984375, 28.037109375, 0.14524328708648682 ]
4.45
89
0
89
0
[ -9.755859375, 69.345703125, 38.583984375, 107.2265625, 32.080078125, 0 ]
[ -7.998046875, 70.224609375, 42.099609375, 106.69921875, 28.916015625, 0.14524328708648682 ]
4.5
90
0
90
0
[ -10.546875, 68.5546875, 39.111328125, 107.05078125, 33.310546875, 0 ]
[ -8.0859375, 68.90625, 41.748046875, 106.875, 29.8828125, 0.14524328708648682 ]
4.55
91
0
91
0
[ -11.513671875, 67.763671875, 39.638671875, 106.5234375, 33.92578125, 0 ]
[ -8.4375, 67.67578125, 41.66015625, 106.875, 30.76171875, 0.14524328708648682 ]
4.6
92
0
92
0
[ -12.216796875, 66.796875, 39.90234375, 105.908203125, 34.365234375, 0 ]
[ -9.140625, 66.708984375, 41.572265625, 106.787109375, 31.376953125, 0.14524328708648682 ]
4.65
93
0
93
0
[ -12.744140625, 65.478515625, 40.078125, 105.205078125, 34.62890625, 0 ]
[ -10.107421875, 65.56640625, 41.572265625, 106.259765625, 31.9921875, 0.14524328708648682 ]
4.7
94
0
94
0
[ -12.83203125, 64.16015625, 39.90234375, 104.326171875, 34.8046875, 0 ]
[ -11.25, 64.51171875, 41.572265625, 105.908203125, 32.431640625, 0.14524328708648682 ]
4.75
95
0
95
0
[ -12.744140625, 62.841796875, 39.55078125, 103.18359375, 34.8046875, 0 ]
[ -11.77734375, 63.45703125, 41.572265625, 105.380859375, 32.607421875, 0.14524328708648682 ]
4.8
96
0
96
0
[ -12.392578125, 61.34765625, 38.84765625, 102.216796875, 34.8046875, 0 ]
[ -11.865234375, 62.40234375, 41.572265625, 104.58984375, 32.6953125, 0.14524328708648682 ]
4.85
97
0
97
0
[ -11.953125, 60.029296875, 38.056640625, 101.25, 34.98046875, 0 ]
[ -11.513671875, 60.8203125, 41.30859375, 103.798828125, 32.6953125, 0.14524328708648682 ]
4.9
98
0
98
0
[ -11.513671875, 59.23828125, 37.79296875, 99.84375, 35.5078125, 0 ]
[ -11.162109375, 59.501953125, 41.1328125, 102.83203125, 32.6953125, 0.14524328708648682 ]
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": 8636,
    "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",
                "channels"
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            "info": {
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                "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,
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            ],
            "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",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
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            "names": null
        }
    }
}

Citation

BibTeX:

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License:
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