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Datasets:
Beegbrain
/
stack_blue_green_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
moss
stack
cubes
lerobot
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
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action
sequence
observation.state
sequence
timestamp
float32
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16.4
frame_index
int64
0
492
episode_index
int64
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29
index
int64
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13.1k
task_index
int64
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72
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[ -11.865234375, 118.564453125, 107.2265625, 52.734375, 23.291015625, -0.09372071176767349 ]
[ -4.482421875, 124.541015625, 107.578125, 58.974609375, 17.40234375, 0.4181184768676758 ]
2.433333
73
0
73
0
[ -13.53515625, 116.630859375, 107.05078125, 51.50390625, 24.697265625, -0.09372071176767349 ]
[ -6.416015625, 122.607421875, 107.841796875, 57.568359375, 18.6328125, 0.4181184768676758 ]
2.466667
74
0
74
0
[ -15.029296875, 114.697265625, 106.34765625, 51.416015625, 25.927734375, -0.09372071176767349 ]
[ -7.734375, 120.41015625, 108.10546875, 56.07421875, 19.951171875, 0.4181184768676758 ]
2.5
75
0
75
0
[ -16.435546875, 112.763671875, 105.380859375, 51.416015625, 26.71875, -0.09372071176767349 ]
[ -9.228515625, 118.30078125, 108.10546875, 54.66796875, 21.357421875, 0.4181184768676758 ]
2.533333
76
0
76
0
[ -17.841796875, 111.09375, 104.501953125, 51.50390625, 27.59765625, -0.09372071176767349 ]
[ -11.25, 116.279296875, 108.10546875, 53.701171875, 22.67578125, 0.4181184768676758 ]
2.566667
77
0
77
0
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[ -13.0078125, 114.697265625, 107.9296875, 53.0859375, 23.642578125, 0.4181184768676758 ]
2.6
78
0
78
0
[ -20.126953125, 107.9296875, 102.48046875, 52.20703125, 28.4765625, -0.09372071176767349 ]
[ -14.677734375, 113.02734375, 107.40234375, 52.646484375, 24.609375, 0.4181184768676758 ]
2.633333
79
0
79
0
[ -21.357421875, 106.611328125, 101.6015625, 52.646484375, 29.091796875, -0.09372071176767349 ]
[ -15.8203125, 111.26953125, 106.875, 52.470703125, 25.400390625, 0.4181184768676758 ]
2.666667
80
0
80
0
[ -22.5, 105.380859375, 101.07421875, 52.734375, 29.53125, -0.09372071176767349 ]
[ -17.05078125, 109.423828125, 106.171875, 52.470703125, 26.015625, 0.4181184768676758 ]
2.7
81
0
81
0
[ -23.642578125, 104.150390625, 100.634765625, 52.734375, 30.05859375, -0.09372071176767349 ]
[ -17.841796875, 107.666015625, 105.46875, 52.470703125, 26.630859375, 0.4181184768676758 ]
2.733333
82
0
82
0
[ -24.9609375, 102.919921875, 100.1953125, 52.55859375, 30.673828125, -0.09372071176767349 ]
[ -19.16015625, 105.99609375, 104.94140625, 52.470703125, 27.0703125, 0.4181184768676758 ]
2.766667
83
0
83
0
[ -26.103515625, 101.6015625, 99.755859375, 52.55859375, 31.201171875, -0.09372071176767349 ]
[ -20.21484375, 104.677734375, 104.4140625, 52.470703125, 27.59765625, 0.4181184768676758 ]
2.8
84
0
84
0
[ -27.158203125, 100.1953125, 99.228515625, 52.55859375, 31.552734375, -0.09372071176767349 ]
[ -21.97265625, 103.271484375, 103.798828125, 52.470703125, 28.125, 0.4181184768676758 ]
2.833333
85
0
85
0
[ -28.125, 98.7890625, 98.876953125, 52.55859375, 32.080078125, -0.09372071176767349 ]
[ -23.291015625, 101.865234375, 103.271484375, 52.470703125, 28.564453125, 0.4181184768676758 ]
2.866667
86
0
86
0
[ -29.091796875, 97.294921875, 98.701171875, 51.767578125, 32.255859375, -0.09372071176767349 ]
[ -24.609375, 100.634765625, 102.744140625, 52.470703125, 28.916015625, 0.4181184768676758 ]
2.9
87
0
87
0
[ -29.8828125, 95.80078125, 98.61328125, 50.888671875, 32.255859375, -0.09372071176767349 ]
[ -25.83984375, 99.052734375, 102.12890625, 52.470703125, 29.443359375, 0.4181184768676758 ]
2.933333
88
0
88
0
[ -30.41015625, 94.21875, 98.26171875, 50.888671875, 32.34375, -0.09372071176767349 ]
[ -26.54296875, 97.734375, 101.77734375, 52.294921875, 29.794921875, 0.4181184768676758 ]
2.966667
89
0
89
0
[ -30.9375, 92.548828125, 97.734375, 51.064453125, 32.34375, -0.09372071176767349 ]
[ -27.158203125, 96.240234375, 101.513671875, 51.767578125, 29.970703125, 0.4181184768676758 ]
3
90
0
90
0
[ -31.376953125, 90.615234375, 97.119140625, 50.888671875, 32.34375, -0.09372071176767349 ]
[ -27.94921875, 94.74609375, 101.337890625, 51.416015625, 30.146484375, 0.4181184768676758 ]
3.033333
91
0
91
0
[ -31.728515625, 88.59375, 96.15234375, 50.888671875, 32.34375, -0.09372071176767349 ]
[ -28.740234375, 92.98828125, 100.8984375, 51.50390625, 30.234375, 0.4181184768676758 ]
3.066667
92
0
92
0
[ -32.16796875, 86.748046875, 95.185546875, 50.712890625, 32.431640625, -0.09372071176767349 ]
[ -29.443359375, 91.40625, 100.546875, 51.328125, 30.234375, 0.4181184768676758 ]
3.1
93
0
93
0
[ -32.51953125, 84.990234375, 94.482421875, 50.2734375, 32.51953125, -0.09372071176767349 ]
[ -30.234375, 89.47265625, 100.01953125, 51.064453125, 30.322265625, 0.4181184768676758 ]
3.133333
94
0
94
0
[ -32.783203125, 83.49609375, 93.779296875, 49.5703125, 32.6953125, -0.09372071176767349 ]
[ -30.849609375, 87.5390625, 99.31640625, 50.9765625, 30.322265625, 0.4181184768676758 ]
3.166667
95
0
95
0
[ -32.87109375, 81.9140625, 93.251953125, 49.04296875, 33.134765625, -0.09372071176767349 ]
[ -31.376953125, 85.517578125, 98.525390625, 50.9765625, 30.322265625, 0.4181184768676758 ]
3.2
96
0
96
0
[ -32.87109375, 80.68359375, 92.724609375, 48.779296875, 33.57421875, -0.09372071176767349 ]
[ -31.640625, 83.671875, 97.734375, 50.625, 30.322265625, 0.4181184768676758 ]
3.233333
97
0
97
0
[ -32.6953125, 79.453125, 92.197265625, 48.8671875, 34.189453125, -0.09372071176767349 ]
[ -31.728515625, 82.08984375, 97.20703125, 50.361328125, 30.673828125, 0.4181184768676758 ]
3.266667
98
0
98
0
[ -32.607421875, 78.310546875, 91.669921875, 48.427734375, 34.27734375, -0.09372071176767349 ]
[ -31.728515625, 80.419921875, 96.50390625, 49.833984375, 30.849609375, 0.4181184768676758 ]
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": "moss",
    "total_episodes": 30,
    "total_frames": 13119,
    "total_tasks": 1,
    "total_videos": 60,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "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.side": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
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            "info": {
                "video.fps": 30.0,
                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "av1",
                "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": 30.0,
                "video.height": 480,
                "video.width": 640,
                "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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Number of rows:
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