Search is not available for this dataset
action list | observation.state list | observation.hand_torque list | observation.tactile list | observation.wrist_wrench list | timestamp float32 0 59.7 | frame_index int64 0 1.79k | episode_index int64 0 0 | index int64 0 1.79k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "dexbot_sharpa",
"total_episodes": 1,
"total_frames": 1792,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
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},
"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": {
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],
"names": [
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"arm_joint_2",
"arm_joint_3",
"arm_joint_4",
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"arm_joint_6",
"arm_joint_7",
"Thumb CMC FE",
"Thumb CMC AA",
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"Thumb MCP AA",
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},
"observation.hand_torque": {
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},
"observation.tactile": {
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},
"dexbot_controller": {
"side": "right",
"hand_name": "sharpa",
"sources": {
"sensor": {
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"port": 5561,
"topic": "sensor_right"
},
"wrist_wrench": {
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"port": 5563,
"topic": "wrist_right"
},
"arm_cmd": {
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"topic": "sharpa_right"
},
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}
},
"hand_controller": {
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"filter_alpha": 0.4,
"speed_coeff": 0.3,
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"compliance": false,
"kz": 50.0,
"dz": 5.0,
"kf": 2.0,
"contact_threshold": 0.3,
"orientation": "identity",
"force_cap_mode": true,
"force_cap": 1.5,
"force_cap_ki": 0.5,
"force_cap_release_frac": 0.8,
"force_cap_limit_margin": 0.05,
"force_cap_exclude": "thumb",
"interpolate": false,
"contact_release_threshold": null,
"f6_alpha": 0.3,
"tau_limit": 0.5,
"dq_limit": 0.3,
"hand_orientation": "identity"
},
"arm_controller": {
"type": "tianji",
"max_delta_deg": 2.0,
"max_lag_deg": 5.0,
"hand": "sharpa",
"watchdog_timeout": 0.5
},
"teleop_pub_hz": null,
"hand_controller_source": "live_stream",
"arm_controller_source": "live_stream"
}
}
Citation
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