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Datasets:
Beegbrain
/
sweep_tissue_cube

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so100
sweep cubes
sweep
bag
tissue
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files
xet
Community
Dataset Viewer
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action
sequence
observation.state
sequence
timestamp
float32
0
29.7
frame_index
int64
0
892
episode_index
int64
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29
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16.1k
task_index
int64
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[ 1.7578125, 71.19140625, 96.767578125, 45.87890625, -1.58203125, 0 ]
[ -2.900390625, 72.421875, 100.1953125, 45.17578125, 0.17578125, 1.0971786975860596 ]
2.6
78
0
78
0
[ 3.076171875, 70.48828125, 95.09765625, 45.87890625, -2.021484375, 0 ]
[ -2.373046875, 71.455078125, 98.7890625, 45.439453125, 0, 1.0971786975860596 ]
2.633333
79
0
79
0
[ 4.5703125, 69.78515625, 93.33984375, 45.87890625, -2.28515625, 0 ]
[ -1.58203125, 71.103515625, 97.3828125, 45.439453125, -0.087890625, 1.0971786975860596 ]
2.666667
80
0
80
0
[ 6.064453125, 68.994140625, 91.58203125, 45.791015625, -2.373046875, 0 ]
[ -0.3515625, 70.048828125, 96.15234375, 45.439453125, -0.615234375, 1.0971786975860596 ]
2.7
81
0
81
0
[ 7.646484375, 68.02734375, 89.560546875, 45.615234375, -2.4609375, 0 ]
[ 0.791015625, 69.08203125, 94.482421875, 45.439453125, -0.791015625, 1.0971786975860596 ]
2.733333
82
0
82
0
[ 9.228515625, 66.97265625, 87.5390625, 45.439453125, -2.548828125, 0 ]
[ 2.373046875, 67.8515625, 92.548828125, 45.439453125, -0.791015625, 1.0971786975860596 ]
2.766667
83
0
83
0
[ 10.72265625, 65.654296875, 85.25390625, 45.3515625, -2.724609375, 0 ]
[ 3.8671875, 66.97265625, 90.703125, 45.263671875, -0.791015625, 1.0971786975860596 ]
2.8
84
0
84
0
[ 12.12890625, 64.3359375, 83.14453125, 45, -2.900390625, 0 ]
[ 5.888671875, 65.478515625, 88.857421875, 45.17578125, -0.791015625, 1.0971786975860596 ]
2.833333
85
0
85
0
[ 13.447265625, 63.193359375, 81.474609375, 44.12109375, -3.076171875, 0 ]
[ 7.470703125, 64.16015625, 86.748046875, 45.087890625, -0.791015625, 1.0971786975860596 ]
2.866667
86
0
86
0
[ 14.58984375, 61.875, 79.8046875, 43.06640625, -3.427734375, 0 ]
[ 9.228515625, 62.841796875, 84.90234375, 44.82421875, -0.87890625, 1.0971786975860596 ]
2.9
87
0
87
0
[ 15.732421875, 60.556640625, 77.958984375, 42.1875, -3.955078125, 0 ]
[ 10.72265625, 61.69921875, 83.14453125, 44.6484375, -1.669921875, 1.0971786975860596 ]
2.933333
88
0
88
0
[ 16.787109375, 59.4140625, 76.552734375, 40.95703125, -4.39453125, 0 ]
[ 12.216796875, 60.205078125, 81.2109375, 44.47265625, -2.021484375, 1.0971786975860596 ]
2.966667
89
0
89
0
[ 17.841796875, 58.271484375, 75.322265625, 39.55078125, -5.185546875, 0 ]
[ 13.359375, 58.798828125, 79.453125, 43.154296875, -2.021484375, 1.0971786975860596 ]
3
90
0
90
0
[ 18.896484375, 57.392578125, 74.1796875, 38.408203125, -5.361328125, -0.09354536980390549 ]
[ 14.4140625, 57.65625, 78.310546875, 41.30859375, -2.8125, 1.0971786975860596 ]
3.033333
91
0
91
0
[ 19.6875, 56.6015625, 72.861328125, 38.49609375, -5.44921875, -0.09354536980390549 ]
[ 15.380859375, 56.337890625, 77.16796875, 39.814453125, -3.69140625, 1.0971786975860596 ]
3.066667
92
0
92
0
[ 20.21484375, 56.337890625, 72.0703125, 39.111328125, -5.80078125, -0.09354536980390549 ]
[ 16.259765625, 55.546875, 76.201171875, 38.759765625, -3.955078125, 1.0971786975860596 ]
3.1
93
0
93
0
[ 20.478515625, 56.42578125, 71.71875, 40.25390625, -6.15234375, -0.09354536980390549 ]
[ 17.05078125, 54.755859375, 74.970703125, 38.49609375, -3.955078125, 1.0971786975860596 ]
3.133333
94
0
94
0
[ 20.478515625, 56.689453125, 71.806640625, 41.396484375, -6.85546875, -0.09354536980390549 ]
[ 17.578125, 54.404296875, 74.267578125, 38.49609375, -4.04296875, 1.0971786975860596 ]
3.166667
95
0
95
0
[ 20.126953125, 57.48046875, 72.421875, 42.36328125, -7.294921875, -0.09354536980390549 ]
[ 18.10546875, 54.404296875, 73.740234375, 39.19921875, -4.658203125, 1.0971786975860596 ]
3.2
96
0
96
0
[ 19.6875, 58.53515625, 73.564453125, 42.890625, -7.20703125, -0.09354536980390549 ]
[ 18.45703125, 54.404296875, 73.564453125, 39.990234375, -5.09765625, 1.0971786975860596 ]
3.233333
97
0
97
0
[ 19.072265625, 59.677734375, 74.8828125, 43.330078125, -6.943359375, -0.09354536980390549 ]
[ 18.45703125, 54.404296875, 73.65234375, 40.693359375, -5.712890625, 1.0971786975860596 ]
3.266667
98
0
98
0
[ 18.10546875, 60.64453125, 75.673828125, 44.736328125, -6.6796875, -0.09354536980390549 ]
[ 18.45703125, 54.404296875, 73.65234375, 40.78125, -6.064453125, 1.0971786975860596 ]
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": "v2.1",
    "robot_type": "so100",
    "total_episodes": 30,
    "total_frames": 16063,
    "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": [
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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.realsense_top": {
            "dtype": "video",
            "shape": [
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                640,
                3
            ],
            "names": [
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                "video.height": 480,
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                "has_audio": false
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        },
        "observation.images.realsense_side": {
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            "shape": [
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            ],
            "names": [
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                "width",
                "channels"
            ],
            "info": {
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                "video.height": 480,
                "video.width": 640,
                "video.channels": 3,
                "video.codec": "h264",
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                "video.is_depth_map": false,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
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            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
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            ],
            "names": null
        },
        "index": {
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        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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