Datasets:
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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": 19825,
"total_tasks": 1,
"total_videos": 2,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
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"Middle MCP FE",
"Middle MCP AA",
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"Ring PIP FE",
"Ring DIP FE",
"Pinky CMC FE",
"Pinky MCP FE",
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"Pinky PIP FE",
"Pinky DIP FE"
]
},
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],
"names": [
"thumb_Fx",
"thumb_Fy",
"thumb_Fz",
"thumb_Mx",
"thumb_My",
"thumb_Mz",
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"index_Fy",
"index_Fz",
"index_Mx",
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"middle_Fx",
"middle_Fy",
"middle_Fz",
"middle_Mx",
"middle_My",
"middle_Mz",
"ring_Fx",
"ring_Fy",
"ring_Fz",
"ring_Mx",
"ring_My",
"ring_Mz",
"pinky_Fx",
"pinky_Fy",
"pinky_Fz",
"pinky_Mx",
"pinky_My",
"pinky_Mz"
]
},
"observation.wrist_wrench": {
"dtype": "float32",
"shape": [
6
],
"names": [
"Fx",
"Fy",
"Fz",
"Mx",
"My",
"Mz"
]
},
"action.teleop": {
"dtype": "float32",
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],
"names": [
"arm_joint_1",
"arm_joint_2",
"arm_joint_3",
"arm_joint_4",
"arm_joint_5",
"arm_joint_6",
"arm_joint_7",
"Thumb CMC FE",
"Thumb CMC AA",
"Thumb MCP FE",
"Thumb MCP AA",
"Thumb DIP FE",
"Index MCP FE",
"Index MCP AA",
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"Index DIP FE",
"Middle MCP FE",
"Middle MCP AA",
"Middle PIP FE",
"Middle DIP FE",
"Ring MCP FE",
"Ring MCP AA",
"Ring PIP FE",
"Ring DIP FE",
"Pinky CMC FE",
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"Pinky MCP AA",
"Pinky PIP FE",
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]
},
"action.applied": {
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],
"names": [
"arm_joint_1",
"arm_joint_2",
"arm_joint_3",
"arm_joint_4",
"arm_joint_5",
"arm_joint_6",
"arm_joint_7",
"Thumb CMC FE",
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"Index MCP FE",
"Index MCP AA",
"Index PIP FE",
"Index DIP FE",
"Middle MCP FE",
"Middle MCP AA",
"Middle PIP FE",
"Middle DIP FE",
"Ring MCP FE",
"Ring MCP AA",
"Ring PIP FE",
"Ring DIP FE",
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"Pinky PIP FE",
"Pinky DIP FE"
]
},
"action.compliance_dq": {
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22
],
"names": [
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"Thumb CMC AA",
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"Thumb MCP AA",
"Thumb DIP FE",
"Index MCP FE",
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"Index PIP FE",
"Index DIP FE",
"Middle MCP FE",
"Middle MCP AA",
"Middle PIP FE",
"Middle DIP FE",
"Ring MCP FE",
"Ring MCP AA",
"Ring PIP FE",
"Ring DIP FE",
"Pinky CMC FE",
"Pinky MCP FE",
"Pinky MCP AA",
"Pinky PIP FE",
"Pinky DIP FE"
]
},
"observation.images.zed": {
"dtype": "video",
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channels"
],
"info": "RGB color image (ZED right eye, UVC)"
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
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],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
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"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
},
"dexbot_controller": {
"side": "right",
"hand_name": "sharpa",
"sources": {
"sensor": {
"host": "localhost",
"port": 5561,
"topic": "sensor_right"
},
"wrist_wrench": {
"host": "localhost",
"port": 5563,
"topic": "wrist_right"
},
"arm_cmd": {
"host": "localhost",
"port": 5557,
"topic": "sharpa_right"
},
"hand_cmd": {
"host": "localhost",
"port": 5560,
"topic": "sharpa_right"
}
},
"hand_controller": {
"control_mode": "position",
"mit_kp_scale": 1.0,
"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",
"interpolate": false,
"contact_release_threshold": null,
"f6_alpha": 0.3,
"tau_limit": 0.5,
"dq_limit": 0.3,
"hand_orientation": "identity",
"multifinger_grasp": true,
"multifinger_active_fingers": "thumb,index,middle",
"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": "shared_autonomy",
"multifinger_tripod_hold_coupled_force_gain": 0.05,
"multifinger_force_targets": "",
"multifinger_shared_calibration": "assets/configs/sharpa/shared_tripod_calibration.json",
"multifinger_screw_axis_point": "-0.4474,-0.8354,0.2705",
"multifinger_screw_axis_direction": "0.1724,0.1057,-0.9793",
"tactile_hold_ms": 80.0,
"calibrate_tactile": true
},
"arm_controller": {
"type": "tianji",
"max_delta_deg": 2.0,
"max_lag_deg": 5.0,
"admittance": false,
"admittance_gain": null,
"admittance_deadband_n": null,
"admittance_max_offset_m": null,
"admittance_leak_tau_s": null,
"admittance_sign": null,
"hand": "sharpa",
"watchdog_timeout": 0.5
},
"teleop_pub_hz": null,
"hand_controller_source": "live_stream",
"arm_controller_source": "live_stream"
}
}
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