Datasets:
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observation.state list | action list | timestamp float32 0 32.4 ⌀ | frame_index int64 0 324 ⌀ | episode_index int64 0 43 ⌀ | index int64 0 10.6k ⌀ | task_index int64 0 0 ⌀ |
|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
madokalif/widowx-pick-v1-clean
Baseline condition: original camera frames, unmodified.
Hand-guided (kinesthetic) demonstrations on a Trossen WidowX AI 7-DoF arm.
The operator moved the arm by hand under firmware gravity compensation
(Mode.external_effort with zero desired external effort) while the gripper
stayed under position control, so each recorded action is the measured
joint pose the arm was guided to, not a commanded target.
Format
LeRobot v3 dataset.
| field | shape | units |
|---|---|---|
observation.state |
(7,) | 6 arm joints in rad, gripper carriage in m |
action |
(7,) | same, measured (kinesthetic teaching) |
observation.images.external |
640x480x3 | RGB, wrist-mounted RealSense D405 |
- Task instruction:
"pick up the object and place on the hole"(identical for every episode) - Sample rate: 10 Hz
- Episodes: 44
Collection notes
Every episode passed the collection quality gate: no stale camera frames, no repeated frames, contiguous sampling, joint values inside the arm's limits. Episodes that were marked failure/discarded, or whose sampling gap exceeded the threshold, are excluded.
Recorded with holi-lab/WidowXAI.
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