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Datasets:
Beegbrain
/
align_three_pens

Tasks:
Robotics
Modalities:
Video
Tags:
LeRobot
moss
pen
align
lerobot
License:
Dataset card Viewer Files Community
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Error code:   UnexpectedError

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action
sequence
observation.state
sequence
timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
[ 21.26953125, 219.814453125, 130.4296875, 84.7265625, -2.8125, -0.09372071176767349 ]
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0.65
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13
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0.7
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14
0
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0.75
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15
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0.8
16
0
16
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0.85
17
0
17
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0.9
18
0
18
0
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0.95
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0
19
0
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1
20
0
20
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1.05
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21
0
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1.1
22
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1.15
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23
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1.2
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24
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25
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1.3
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0
26
0
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1.35
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0
27
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1.4
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1.45
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29
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1.5
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30
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1.55
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1.65
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1.7
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1.75
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35
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1.8
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1.85
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1.9
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1.95
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39
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2
40
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40
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2.05
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0
41
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2.1
42
0
42
0
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[ 24.169921875, 91.7578125, 110.21484375, 54.84375, -5.2734375, 0.3484320640563965 ]
2.15
43
0
43
0
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2.2
44
0
44
0
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2.25
45
0
45
0
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2.3
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0
46
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2.35
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0
47
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[ 24.78515625, 79.453125, 115.6640625, 40.869140625, -10.72265625, 0.3484320640563965 ]
2.4
48
0
48
0
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2.45
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0
49
0
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2.5
50
0
50
0
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2.55
51
0
51
0
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2.6
52
0
52
0
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2.65
53
0
53
0
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2.7
54
0
54
0
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2.75
55
0
55
0
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2.8
56
0
56
0
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[ 19.599609375, 70.6640625, 117.59765625, 32.080078125, -7.119140625, 0.3484320640563965 ]
2.85
57
0
57
0
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[ 18.984375, 69.873046875, 117.59765625, 30.9375, -7.03125, 0.3484320640563965 ]
2.9
58
0
58
0
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2.95
59
0
59
0
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[ 18.45703125, 69.08203125, 117.509765625, 29.35546875, -7.03125, 0.3484320640563965 ]
3
60
0
60
0
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[ 17.841796875, 68.203125, 116.89453125, 29.00390625, -7.03125, 0.3484320640563965 ]
3.05
61
0
61
0
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[ 17.2265625, 67.412109375, 116.015625, 28.564453125, -7.119140625, 0.3484320640563965 ]
3.1
62
0
62
0
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[ 16.962890625, 66.708984375, 115.224609375, 27.94921875, -7.55859375, 0.3484320640563965 ]
3.15
63
0
63
0
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[ 16.962890625, 66.181640625, 114.697265625, 27.509765625, -7.734375, 0.3484320640563965 ]
3.2
64
0
64
0
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[ 16.962890625, 65.21484375, 113.466796875, 26.806640625, -7.822265625, 0.3484320640563965 ]
3.25
65
0
65
0
[ 17.314453125, 63.896484375, 108.6328125, 25.224609375, -9.31640625, -0.18744142353534698 ]
[ 17.05078125, 64.248046875, 112.412109375, 26.103515625, -7.822265625, 0.3484320640563965 ]
3.3
66
0
66
0
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[ 17.138671875, 63.28125, 111.357421875, 25.751953125, -8.349609375, 0.3484320640563965 ]
3.35
67
0
67
0
[ 17.40234375, 62.40234375, 106.875, 24.43359375, -9.931640625, -0.18744142353534698 ]
[ 17.138671875, 62.578125, 110.390625, 25.400390625, -8.61328125, 0.3484320640563965 ]
3.4
68
0
68
0
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[ 17.05078125, 61.962890625, 109.423828125, 24.9609375, -8.7890625, 0.3484320640563965 ]
3.45
69
0
69
0
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[ 16.962890625, 61.083984375, 108.544921875, 24.78515625, -8.7890625, 0.3484320640563965 ]
3.5
70
0
70
0
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[ 16.962890625, 60.380859375, 107.578125, 24.609375, -8.7890625, 0.3484320640563965 ]
3.55
71
0
71
0
[ 18.984375, 60.908203125, 103.18359375, 23.90625, -10.01953125, -0.18744142353534698 ]
[ 16.962890625, 60.29296875, 107.05078125, 24.609375, -8.876953125, 0.3484320640563965 ]
3.6
72
0
72
0
[ 19.423828125, 60.64453125, 102.12890625, 23.466796875, -10.1953125, -0.18744142353534698 ]
[ 17.314453125, 59.765625, 106.34765625, 24.609375, -9.31640625, 0.3484320640563965 ]
3.65
73
0
73
0
[ 19.86328125, 60.29296875, 101.162109375, 23.02734375, -10.1953125, -0.18744142353534698 ]
[ 17.666015625, 59.150390625, 105.46875, 24.08203125, -9.404296875, 0.3484320640563965 ]
3.7
74
0
74
0
[ 20.21484375, 59.853515625, 100.1953125, 22.412109375, -10.1953125, -0.18744142353534698 ]
[ 18.28125, 58.798828125, 104.677734375, 23.90625, -9.755859375, 0.3484320640563965 ]
3.75
75
0
75
0
[ 20.478515625, 59.4140625, 99.228515625, 22.060546875, -10.458984375, -0.18744142353534698 ]
[ 18.80859375, 58.359375, 103.88671875, 23.73046875, -9.755859375, 0.3484320640563965 ]
3.8
76
0
76
0
[ 20.830078125, 58.7109375, 98.26171875, 21.708984375, -10.546875, -0.18744142353534698 ]
[ 19.248046875, 57.744140625, 103.0078125, 23.203125, -9.755859375, 0.3484320640563965 ]
3.85
77
0
77
0
[ 21.181640625, 58.18359375, 97.55859375, 21.181640625, -10.810546875, -0.18744142353534698 ]
[ 19.599609375, 57.48046875, 102.216796875, 22.8515625, -9.755859375, 0.3484320640563965 ]
3.9
78
0
78
0
[ 21.357421875, 57.65625, 96.943359375, 21.005859375, -10.8984375, -0.18744142353534698 ]
[ 19.86328125, 56.865234375, 101.162109375, 22.32421875, -9.755859375, 0.3484320640563965 ]
3.95
79
0
79
0
[ 21.708984375, 56.77734375, 95.9765625, 20.478515625, -10.810546875, -0.18744142353534698 ]
[ 20.21484375, 56.337890625, 100.1953125, 22.060546875, -9.84375, 0.3484320640563965 ]
4
80
0
80
0
[ 22.060546875, 56.25, 95.2734375, 20.302734375, -10.72265625, -0.18744142353534698 ]
[ 20.7421875, 55.458984375, 99.31640625, 21.884765625, -9.84375, 0.3484320640563965 ]
4.05
81
0
81
0
[ 22.412109375, 55.546875, 94.5703125, 20.302734375, -10.634765625, -0.18744142353534698 ]
[ 21.005859375, 54.755859375, 98.525390625, 21.26953125, -9.84375, 0.3484320640563965 ]
4.1
82
0
82
0
[ 22.67578125, 54.66796875, 94.04296875, 20.302734375, -10.634765625, -0.18744142353534698 ]
[ 21.09375, 54.31640625, 97.91015625, 21.09375, -9.84375, 0.3484320640563965 ]
4.15
83
0
83
0
[ 22.939453125, 54.140625, 93.69140625, 20.21484375, -10.72265625, -0.18744142353534698 ]
[ 21.357421875, 53.525390625, 97.119140625, 21.005859375, -9.84375, 0.3484320640563965 ]
4.2
84
0
84
0
[ 23.203125, 53.7890625, 93.427734375, 19.951171875, -10.8984375, -0.18744142353534698 ]
[ 21.708984375, 52.734375, 96.6796875, 20.91796875, -9.84375, 0.3484320640563965 ]
4.25
85
0
85
0
[ 23.466796875, 53.26171875, 93.076171875, 19.951171875, -11.162109375, -0.18744142353534698 ]
[ 21.884765625, 52.20703125, 96.064453125, 20.91796875, -9.66796875, 0.3484320640563965 ]
4.3
86
0
86
0
[ 23.818359375, 52.734375, 92.548828125, 19.951171875, -11.337890625, -0.18744142353534698 ]
[ 22.1484375, 51.6796875, 95.712890625, 20.390625, -9.931640625, 0.3484320640563965 ]
4.35
87
0
87
0
[ 24.2578125, 52.20703125, 92.021484375, 19.951171875, -11.689453125, -0.18744142353534698 ]
[ 22.412109375, 51.240234375, 95.361328125, 20.0390625, -10.283203125, 0.3484320640563965 ]
4.4
88
0
88
0
[ 24.609375, 51.85546875, 91.58203125, 19.951171875, -11.865234375, -0.18744142353534698 ]
[ 22.763671875, 50.712890625, 94.74609375, 19.951171875, -10.546875, 0.3484320640563965 ]
4.45
89
0
89
0
[ 25.048828125, 51.416015625, 91.23046875, 19.951171875, -12.041015625, -0.18744142353534698 ]
[ 23.203125, 50.361328125, 94.306640625, 19.86328125, -10.810546875, 0.3484320640563965 ]
4.5
90
0
90
0
[ 25.400390625, 51.15234375, 90.87890625, 19.951171875, -12.392578125, -0.18744142353534698 ]
[ 23.642578125, 49.833984375, 93.69140625, 19.86328125, -10.810546875, 0.3484320640563965 ]
4.55
91
0
91
0
[ 25.751953125, 50.712890625, 90.52734375, 19.951171875, -12.568359375, -0.18744142353534698 ]
[ 24.08203125, 49.74609375, 93.251953125, 19.86328125, -11.42578125, 0.3484320640563965 ]
4.6
92
0
92
0
[ 26.103515625, 50.44921875, 90.087890625, 19.951171875, -12.744140625, -0.18744142353534698 ]
[ 24.521484375, 49.39453125, 92.8125, 19.86328125, -11.689453125, 0.3484320640563965 ]
4.65
93
0
93
0
[ 26.3671875, 50.361328125, 89.82421875, 19.951171875, -12.83203125, -0.18744142353534698 ]
[ 24.78515625, 48.8671875, 92.4609375, 19.86328125, -11.513671875, 0.3484320640563965 ]
4.7
94
0
94
0
[ 26.630859375, 50.2734375, 89.560546875, 19.951171875, -13.0078125, -0.18744142353534698 ]
[ 25.13671875, 48.779296875, 92.109375, 19.6875, -11.6015625, 0.3484320640563965 ]
4.75
95
0
95
0
[ 26.89453125, 50.09765625, 89.296875, 19.951171875, -13.0078125, -0.18744142353534698 ]
[ 25.48828125, 48.779296875, 91.58203125, 19.6875, -11.6015625, 0.3484320640563965 ]
4.8
96
0
96
0
[ 27.158203125, 49.921875, 89.033203125, 19.951171875, -13.0078125, -0.18744142353534698 ]
[ 25.751953125, 48.779296875, 91.494140625, 19.6875, -12.12890625, 0.3484320640563965 ]
4.85
97
0
97
0
[ 27.421875, 49.658203125, 88.76953125, 20.0390625, -13.0078125, -0.09372071176767349 ]
[ 25.751953125, 48.603515625, 91.494140625, 19.6875, -12.568359375, 0.3484320640563965 ]
4.9
98
0
98
0
[ 27.421875, 49.5703125, 88.505859375, 20.21484375, -13.0078125, -0.09372071176767349 ]
[ 25.927734375, 48.076171875, 91.23046875, 19.775390625, -13.0078125, 0.3484320640563965 ]
4.95
99
0
99
0
End of preview.

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "moss",
    "total_episodes": 30,
    "total_frames": 11276,
    "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": [
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            ],
            "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,
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            ],
            "names": [
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                "width",
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            "info": {
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                "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": {
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            "shape": [
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                640,
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            ],
            "names": [
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                "channels"
            ],
            "info": {
                "video.fps": 20.0,
                "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": [
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            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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            "names": null
        },
        "episode_index": {
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            "names": null
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        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        }
    }
}

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