Search is not available for this dataset
action list | observation.state list | observation.hand_torque list | observation.tactile list | observation.wrist_wrench list | action.teleop list | action.applied list | action.compliance_dq list | timestamp float32 | frame_index int64 | episode_index int64 | index int64 | task_index int64 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|
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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": 2,
"total_frames": 3588,
"total_tasks": 1,
"total_videos": 2,
"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": {
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"Thumb CMC AA",
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"Thumb DIP FE",
"Index MCP FE",
"Index MCP AA",
"Index PIP FE",
"Index DIP FE",
"Middle MCP FE",
"Middle MCP AA",
"Middle PIP FE",
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"Ring MCP FE",
"Ring MCP AA",
"Ring PIP FE",
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},
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},
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"observation.images.zed": {
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"info": "RGB color image (ZED right eye, UVC)"
},
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},
"dexbot_controller": {
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"hand_name": "sharpa",
"sources": {
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"port": 5561,
"topic": "sensor_right"
},
"wrist_wrench": {
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"topic": "wrist_right"
},
"arm_cmd": {
"host": "localhost",
"port": 5557,
"topic": "sharpa_right"
},
"hand_cmd": {
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"topic": "sharpa_right"
}
},
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"mit_kd_scale": 1.0,
"filter_alpha": 0.4,
"speed_coeff": 0.3,
"current_coeff": 0.6,
"compliance": false,
"kz": 50.0,
"dz": 5.0,
"kf": 2.0,
"contact_threshold": 0.3,
"orientation": "identity",
"force_cap_mode": false,
"force_cap": 3.0,
"force_cap_ki": 0.5,
"force_cap_retreat_lag": 0.01,
"force_cap_release_frac": 0.8,
"force_cap_open_rate": 1.5,
"force_cap_close_rate": 0.4,
"force_cap_limit_margin": 0.05,
"force_cap_exclude": "thumb",
"force_cap_source": "torque",
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"contact_release_threshold": null,
"f6_alpha": 0.3,
"tau_limit": 0.5,
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"hand_orientation": "identity",
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"multifinger_min_contacts": 3,
"multifinger_force_threshold": 0.25,
"multifinger_contact_conf_threshold": 0.2,
"multifinger_pair_hold_assist": false,
"multifinger_tripod_hold_assist": true,
"multifinger_tripod_hold_force_law": "heuristic",
"multifinger_tripod_hold_coupled_force_gain": 0.05,
"multifinger_force_targets": "thumb=0.6,index=0.3,middle=0.25",
"multifinger_shared_calibration": null,
"multifinger_screw_axis_point": "",
"multifinger_screw_axis_direction": "",
"tactile_hold_ms": 80.0,
"calibrate_tactile": true
},
"arm_controller": {
"type": "tianji",
"max_delta_deg": 2.0,
"max_lag_deg": 5.0,
"admittance": false,
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"hand": "sharpa",
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},
"teleop_pub_hz": null,
"hand_controller_source": "live_stream",
"arm_controller_source": "live_stream"
}
}
Citation
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