Datasets:

FlexaTechnologies
/

pick-mug-v5

step int64 0 269	task large_stringclasses 1 value	obs_qpos_0 float64 -0 0	obs_qvel_0 float64 -0.02 0.01	act_qpos_0 float64 -0 0	obs_qpos_1 float64 -0.14 0.35	obs_qvel_1 float64 -0.29 0.34	act_qpos_1 float64 -0.17 0.3	obs_qpos_2 float64 -0 0	obs_qvel_2 float64 -0.02 0.01	act_qpos_2 float64 -0 0	obs_qpos_3 float64 -1.96 -1.57	obs_qvel_3 float64 -0.26 0.15	act_qpos_3 float64 -1.93 -1.57	obs_qpos_4 float64 -0 -0	obs_qvel_4 float64 -0.04 0.01	act_qpos_4 float64 -0 0	obs_qpos_5 float64 1.59 2	obs_qvel_5 float64 -0.27 0.13	act_qpos_5 float64 1.6 2	obs_qpos_6 float64 -0.79 -0.79	obs_qvel_6 float64 -0 0	act_qpos_6 float64 -0.79 -0.79	obs_ee_x float64 0.49 0.68	obs_mug_x float64 0.49 0.5	obs_ee_y float64 -0 0	obs_mug_y float64 -0 0	obs_ee_z float64 0.29 0.49	obs_mug_z float64 0.28 0.48	obs_gripper float64 0 1	act_gripper float64 0 0.04
0	pick_mug	0.000053	0.002016	0	0.304377	0.237735	0.3	-0.000028	-0.000888	0	-1.574457	-0.187506	-1.57079	-0.000676	-0.036009	0	1.999562	-0.062416	2	-0.785305	-0.000242	-0.7853	0.676731	0.5	-0.000075	0	0.377572	0.290291	1	0.04
1	pick_mug	0.000107	0.001179	0	0.314099	0.342861	0.3	-0.000071	-0.001899	0	-1.581898	-0.259701	-1.57079	-0.001832	-0.029744	0	1.995614	-0.158566	2	-0.785313	-0.000184	-0.7853	0.674642	0.500009	-0.000242	0.000021	0.367073	0.287837	1	0.04
2	pick_mug	0.000119	-0.000329	0	0.325324	0.344686	0.3	-0.000153	-0.003058	0	-1.59038	-0.25979	-1.57079	-0.00238	-0.00723	0	1.990917	-0.11842	2	-0.785312	0.000244	-0.7853	0.671919	0.500006	-0.000374	-0.000007	0.354805	0.288744	1	0.04
3	pick_mug	0.000088	-0.001437	0	0.335386	0.280012	0.3	-0.000262	-0.003599	0	-1.597904	-0.207192	-1.57079	-0.002455	-0.000717	0	1.988664	-0.030494	2	-0.7853	0.000366	-0.7853	0.669647	0.500023	-0.000476	0.000008	0.343981	0.289041	1	0.04
4	pick_mug	0.000016	-0.002687	-0.000115	0.342364	0.168576	0.298749	-0.000389	-0.004134	-0.000108	-1.603721	-0.146827	-1.572069	-0.002533	-0.00364	-0.000026	1.987643	-0.029991	1.998523	-0.785295	0.000017	-0.7853	0.667926	0.500023	-0.000613	0.000002	0.336179	0.289078	1	0.04
5	pick_mug	-0.000089	-0.003482	-0.000207	0.345665	0.057182	0.297195	-0.000527	-0.004254	-0.000194	-1.607607	-0.087226	-1.573625	-0.002616	-0.000629	-0.000046	1.986076	-0.04764	1.996713	-0.785298	-0.000075	-0.7853	0.666541	0.499982	-0.000782	0.000018	0.331746	0.289076	1	0.04
6	pick_mug	-0.000222	-0.004314	-0.000383	0.345403	-0.044107	0.294242	-0.000671	-0.004349	-0.000358	-1.610217	-0.054589	-1.57647	-0.002561	0.003558	-0.000086	1.983463	-0.081443	1.993357	-0.785301	0.000035	-0.7853	0.665295	0.500027	-0.000953	0.000013	0.330259	0.289074	1	0.04
7	pick_mug	-0.000365	-0.004249	-0.000474	0.342507	-0.109093	0.291283	-0.000808	-0.003855	-0.000444	-1.611942	-0.031893	-1.579283	-0.002412	0.004897	-0.000107	1.980372	-0.078743	1.99002	-0.785299	0.000145	-0.7853	0.664186	0.500024	-0.001112	0.000011	0.330957	0.289071	1	0.04
8	pick_mug	-0.000489	-0.003336	-0.000508	0.338079	-0.142395	0.288186	-0.000918	-0.002763	-0.000476	-1.613182	-0.022497	-1.582204	-0.002272	0.003364	-0.000114	1.977578	-0.069058	1.986541	-0.785296	0.000073	-0.7853	0.663273	0.499993	-0.001245	0.000023	0.332984	0.289073	1	0.04
9	pick_mug	-0.000576	-0.002093	-0.000529	0.332972	-0.153306	0.284892	-0.00099	-0.00145	-0.000496	-1.614375	-0.026322	-1.585287	-0.002193	0.001571	-0.000119	1.974737	-0.079565	1.982855	-0.785297	-0.000021	-0.7853	0.66237	0.50002	-0.001338	0.000012	0.335521	0.289074	1	0.04
10	pick_mug	-0.000623	-0.000848	-0.000534	0.327756	-0.150068	0.281382	-0.00102	-0.000203	-0.000501	-1.615904	-0.040486	-1.588552	-0.002151	0.000926	-0.00012	1.971293	-0.100858	1.978939	-0.785299	-0.000004	-0.7853	0.661252	0.500027	-0.001384	0.000008	0.337936	0.289072	1	0.04
11	pick_mug	-0.000634	0.000141	-0.000535	0.322763	-0.139665	0.27764	-0.001015	0.000754	-0.000503	-1.618018	-0.059856	-1.592011	-0.002123	0.000462	-0.00012	1.967193	-0.117246	1.974776	-0.7853	0.000042	-0.7853	0.659836	0.49999	-0.001385	0.000028	0.339869	0.289073	1	0.04
12	pick_mug	-0.000619	0.000817	-0.000513	0.317745	-0.142601	0.272374	-0.000988	0.001337	-0.000483	-1.62123	-0.094533	-1.596837	-0.002119	-0.000705	-0.000115	1.961736	-0.169949	1.968941	-0.785301	0.000044	-0.7853	0.657865	0.50002	-0.001359	0.000005	0.341162	0.289073	1	0.04
13	pick_mug	-0.000578	0.001612	-0.000446	0.313174	-0.123106	0.268764	-0.000938	0.002036	-0.00042	-1.6248	-0.098479	-1.600123	-0.002122	0.000033	-0.000099	1.956364	-0.127243	1.964952	-0.785299	0.000108	-0.7853	0.655758	0.500023	-0.001303	0.000006	0.341975	0.289072	1	0.04
14	pick_mug	-0.000514	0.002224	-0.000356	0.308665	-0.128069	0.263353	-0.000873	0.002515	-0.000336	-1.629018	-0.11898	-1.605027	-0.002122	-0.000857	-0.000078	1.951207	-0.151524	1.958982	-0.785299	0.000022	-0.7853	0.653554	0.49999	-0.001221	0.000023	0.342451	0.289072	1	0.04
15	pick_mug	-0.000435	0.0026	-0.000294	0.304404	-0.117233	0.259548	-0.00079	0.002901	-0.000277	-1.63319	-0.11181	-1.60845	-0.002136	-0.000306	-0.000063	1.946184	-0.124515	1.954796	-0.7853	0.000043	-0.7853	0.651351	0.50002	-0.001121	0.000007	0.342784	0.289073	1	0.04
16	pick_mug	-0.000346	0.002869	-0.000183	0.299857	-0.133134	0.253734	-0.000703	0.003087	-0.000173	-1.637795	-0.127932	-1.613675	-0.002131	-0.000297	-0.000036	1.940667	-0.169033	1.948395	-0.785301	0.00003	-0.7853	0.648964	0.500023	-0.001009	0.000004	0.343053	0.28907	1	0.04
17	pick_mug	-0.000253	0.002919	-0.000107	0.294867	-0.145166	0.248141	-0.00061	0.003206	-0.000101	-1.642726	-0.134905	-1.618692	-0.002122	0.000193	-0.000017	1.933991	-0.188046	1.942233	-0.785301	0.000084	-0.7853	0.646223	0.499985	-0.00089	0.000016	0.343344	0.289074	1	0.04
18	pick_mug	-0.000162	0.002795	-0.000043	0.289563	-0.153298	0.24254	-0.000516	0.003133	-0.00004	-1.647787	-0.136614	-1.623701	-0.002097	0.000459	-0.000002	1.92738	-0.172563	1.936063	-0.7853	0.000093	-0.7853	0.643432	0.500028	-0.00077	0.00001	0.343777	0.289074	1	0.04
19	pick_mug	-0.000077	0.002513	0.000008	0.284026	-0.159893	0.236883	-0.000428	0.002868	0.000008	-1.652842	-0.135049	-1.628734	-0.002079	-0.000041	0.000011	1.921271	-0.161135	1.929839	-0.7853	0.000049	-0.7853	0.640736	0.500022	-0.000659	0.000007	0.344405	0.289072	1	0.04
20	pick_mug	-0.000001	0.002289	0.000079	0.278264	-0.166647	0.231093	-0.000348	0.002617	0.000076	-1.657865	-0.134187	-1.633869	-0.00207	-0.000031	0.000029	1.915186	-0.167681	1.923469	-0.7853	0.000045	-0.7853	0.638051	0.499989	-0.000561	0.000022	0.345195	0.289074	1	0.04
21	pick_mug	0.000067	0.002033	0.000135	0.272261	-0.173613	0.225087	-0.000277	0.002377	0.00013	-1.662939	-0.136456	-1.639193	-0.002053	0.000293	0.000043	1.908699	-0.181229	1.916851	-0.785301	0.00007	-0.7853	0.635262	0.500026	-0.000473	0.000012	0.346082	0.289075	1	0.04
22	pick_mug	0.000128	0.001893	0.000201	0.266016	-0.180297	0.218827	-0.000213	0.00224	0.000193	-1.668164	-0.141432	-1.644748	-0.002026	0.000403	0.00006	1.901778	-0.19177	1.909936	-0.7853	0.000092	-0.7853	0.632329	0.500028	-0.000392	0.000009	0.347015	0.289071	1	0.04
23	pick_mug	0.000188	0.001895	0.000274	0.259548	-0.186363	0.21233	-0.00015	0.002246	0.000263	-1.673594	-0.147349	-1.650509	-0.002002	0.00019	0.000079	1.894563	-0.198292	1.902746	-0.7853	0.000091	-0.7853	0.629265	0.499993	-0.000314	0.000028	0.347965	0.289072	1	0.04
24	pick_mug	0.000249	0.00202	0.000366	0.252494	-0.20718	0.204269	-0.000088	0.002365	0.000352	-1.679678	-0.168785	-1.657659	-0.001987	-0.000336	0.000104	1.88616	-0.249441	1.893803	-0.7853	0.000076	-0.7853	0.625783	0.50002	-0.000239	0.000009	0.348883	0.289073	1	0.04
25	pick_mug	0.000313	0.002057	0.000404	0.245377	-0.201597	0.197978	-0.000018	0.002527	0.000389	-1.685735	-0.162022	-1.663244	-0.001972	0.000387	0.000113	1.877881	-0.205251	1.886803	-0.785299	0.000129	-0.7853	0.622264	0.500022	-0.000158	0.000004	0.349852	0.289071	1	0.04
26	pick_mug	0.000367	0.001623	0.000407	0.237923	-0.2171	0.189722	0.000046	0.00213	0.000393	-1.692194	-0.177188	-1.670572	-0.001961	-0.000865	0.000114	1.869751	-0.233963	1.877596	-0.7853	0.000032	-0.7853	0.618693	0.499988	-0.000087	0.000019	0.350856	0.289074	1	0.04
27	pick_mug	0.000409	0.00121	0.000412	0.230488	-0.210704	0.18317	0.000099	0.001729	0.000398	-1.698489	-0.16772	-1.676383	-0.001972	-0.000457	0.000115	1.861667	-0.207702	1.870275	-0.7853	0.000097	-0.7853	0.615126	0.500022	-0.000034	0.000004	0.351918	0.289073	1	0.04
28	pick_mug	0.000434	0.000685	0.000422	0.222688	-0.227556	0.174529	0.000132	0.001143	0.000408	-1.705191	-0.184544	-1.684045	-0.00197	-0.000754	0.000118	1.853043	-0.254684	1.860597	-0.785301	0.000076	-0.7853	0.611361	0.500022	-0.000002	0.000003	0.352977	0.289071	1	0.04
29	pick_mug	0.000442	0.000193	0.000407	0.214533	-0.235266	0.166366	0.000149	0.000671	0.000394	-1.712191	-0.191023	-1.691267	-0.001977	-0.000615	0.000113	1.843342	-0.268312	1.85144	-0.785301	0.000135	-0.7853	0.607245	0.499989	0.000008	0.000025	0.354031	0.289072	1	0.04
30	pick_mug	0.000437	-0.000125	0.000397	0.206263	-0.236668	0.158359	0.000154	0.000338	0.000385	-1.719274	-0.191721	-1.698329	-0.001973	-0.000451	0.00011	1.83395	-0.245812	1.842451	-0.785299	0.000144	-0.7853	0.603135	0.500024	0.000004	0.000011	0.355131	0.289075	1	0.04
31	pick_mug	0.000427	-0.000181	0.000405	0.197964	-0.237511	0.150312	0.000152	0.00024	0.000393	-1.726342	-0.190558	-1.705419	-0.001974	-0.000796	0.000112	1.82515	-0.235399	1.833397	-0.785298	0.000095	-0.7853	0.599145	0.500029	-0.000007	0.000007	0.35629	0.289072	1	0.04
32	pick_mug	0.000418	-0.000048	0.000422	0.189609	-0.239643	0.142174	0.00015	0.000361	0.000411	-1.733395	-0.190677	-1.712587	-0.001981	-0.000761	0.000117	1.816287	-0.245215	1.824218	-0.785299	0.000082	-0.7853	0.595138	0.49999	-0.000019	0.000025	0.357479	0.289074	1	0.04
33	pick_mug	0.000413	0.000049	0.00042	0.181185	-0.241548	0.133991	0.000154	0.000506	0.000409	-1.740474	-0.192037	-1.719776	-0.00198	-0.000492	0.000116	1.807069	-0.254234	1.814977	-0.785299	0.000101	-0.7853	0.591033	0.500025	-0.000025	0.000008	0.358668	0.289075	1	0.04
34	pick_mug	0.000411	0.000147	0.00042	0.172731	-0.24195	0.125831	0.000162	0.000633	0.000409	-1.74758	-0.192815	-1.72692	-0.001974	-0.000463	0.000116	1.797755	-0.252565	1.805754	-0.785299	0.000111	-0.7853	0.58688	0.500025	-0.000026	0.000006	0.359849	0.289071	1	0.04
35	pick_mug	0.000411	0.000208	0.000416	0.164296	-0.241108	0.117726	0.000173	0.000709	0.000406	-1.754672	-0.192122	-1.733985	-0.001973	-0.000715	0.000115	1.7886	-0.246803	1.796592	-0.785298	0.000096	-0.7853	0.582748	0.499987	-0.000024	0.000022	0.361027	0.289073	1	0.04
36	pick_mug	0.000413	0.000242	0.000416	0.155903	-0.239868	0.109678	0.000186	0.000739	0.000406	-1.761712	-0.19058	-1.740976	-0.001978	-0.000816	0.000114	1.779595	-0.244064	1.787488	-0.785298	0.000087	-0.7853	0.578651	0.500022	-0.000021	0.000005	0.362204	0.289073	1	0.04
37	pick_mug	0.000415	0.000261	0.000418	0.147565	-0.238308	0.101706	0.0002	0.000747	0.000408	-1.76868	-0.188652	-1.747876	-0.001981	-0.000686	0.000115	1.770649	-0.243157	1.778462	-0.785298	0.000092	-0.7853	0.574575	0.500023	-0.000017	0.000004	0.363378	0.289071	1	0.04
38	pick_mug	0.000422	0.000423	0.000431	0.139657	-0.221712	0.095121	0.000218	0.000901	0.000421	-1.775163	-0.171927	-1.753553	-0.001975	-0.000122	0.000118	1.762696	-0.1971	1.771006	-0.785297	0.000109	-0.7853	0.570818	0.499989	-0.000006	0.000027	0.364568	0.289072	1	0.04
39	pick_mug	0.000433	0.000548	0.000464	0.131669	-0.231713	0.086551	0.000237	0.000961	0.000455	-1.781808	-0.182811	-1.760911	-0.001965	-0.000835	0.000129	1.754403	-0.248281	1.761299	-0.785299	0.000031	-0.7853	0.566989	0.500023	0.000008	0.000009	0.365708	0.289074	1	0.04
40	pick_mug	0.000451	0.00086	0.000511	0.123523	-0.234259	0.078627	0.000263	0.001279	0.000501	-1.788586	-0.185492	-1.767687	-0.001964	-0.000363	0.000144	1.744861	-0.26623	1.752318	-0.785299	0.000123	-0.7853	0.562815	0.500027	0.000027	0.000005	0.366802	0.289071	1	0.04
41	pick_mug	0.000482	0.00121	0.000543	0.115786	-0.21644	0.072285	0.000304	0.001702	0.000534	-1.794932	-0.168686	-1.773086	-0.00194	0.000436	0.000154	1.736602	-0.194731	1.74513	-0.785296	0.000144	-0.7853	0.558989	0.499987	0.000066	0.000025	0.367913	0.289072	1	0.04
42	pick_mug	0.00052	0.001434	0.000596	0.108073	-0.22302	0.064138	0.000352	0.0019	0.000586	-1.80133	-0.174952	-1.779995	-0.001919	-0.000742	0.000171	1.728889	-0.223982	1.735894	-0.785297	-0.000004	-0.7853	0.555319	0.500022	0.000113	0.000007	0.369011	0.289073	1	0.04
43	pick_mug	0.000568	0.001702	0.000647	0.100619	-0.21026	0.057877	0.000411	0.002202	0.000636	-1.807357	-0.160764	-1.785291	-0.00192	-0.000212	0.000188	1.721062	-0.203738	1.728787	-0.785298	0.00008	-0.7853	0.551688	0.500027	0.000166	0.000007	0.370113	0.289072	1	0.04
44	pick_mug	0.000621	0.001752	0.000688	0.09346	-0.203287	0.051257	0.000474	0.00226	0.000678	-1.813118	-0.155358	-1.790871	-0.001895	0.000213	0.000202	1.71384	-0.192575	1.72127	-0.785297	0.000071	-0.7853	0.548274	0.499992	0.000229	0.000025	0.371191	0.289072	1	0.04
45	pick_mug	0.000659	0.001149	0.000662	0.086097	-0.214596	0.043293	0.000528	0.001686	0.000652	-1.819156	-0.16746	-1.797554	-0.001889	-0.001144	0.000192	1.705658	-0.245345	1.712226	-0.7853	0.000015	-0.7853	0.544596	0.500021	0.000276	0.000009	0.37221	0.289073	1	0.04
46	pick_mug	0.000571	-0.00433	-0.000067	0.078895	-0.203419	0.037199	0.000505	-0.003144	-0.000072	-1.824994	-0.157092	-1.802702	-0.002034	-0.006518	-0.000064	1.697426	-0.2072	1.705262	-0.785306	-0.000071	-0.7853	0.540906	0.500027	0.000195	0.000006	0.373216	0.289071	1	0.04
47	pick_mug	0.000249	-0.012465	-0.000994	0.07197	-0.19659	0.030771	0.000257	-0.011766	-0.000994	-1.830617	-0.151662	-1.808132	-0.002347	-0.010932	-0.000393	1.690424	-0.180771	1.6979	-0.785313	0.000021	-0.7853	0.537555	0.499989	-0.000156	0.000026	0.374214	0.289072	1	0.04
48	pick_mug	-0.00025	-0.016582	-0.001381	0.065242	-0.191761	0.024473	-0.000238	-0.017637	-0.001379	-1.836041	-0.146414	-1.813398	-0.002639	-0.007146	-0.000531	1.683705	-0.185467	1.690711	-0.785309	0.000413	-0.7853	0.534335	0.500024	-0.000737	0.000007	0.375197	0.289073	1	0.04
49	pick_mug	-0.000813	-0.017021	-0.001635	0.058671	-0.187487	0.018341	-0.000841	-0.018896	-0.001633	-1.841301	-0.14264	-1.8185	-0.002779	-0.002932	-0.000622	1.676761	-0.191717	1.683715	-0.785297	0.000403	-0.7853	0.53111	0.500027	-0.001382	0.000005	0.376151	0.289071	1	0.04
50	pick_mug	-0.001385	-0.016852	-0.002122	0.052237	-0.183611	0.012307	-0.001445	-0.018355	-0.002119	-1.846459	-0.140323	-1.823531	-0.002896	-0.004672	-0.000798	1.669785	-0.188903	1.676807	-0.785294	0.000099	-0.7853	0.527901	0.499992	-0.002022	0.000026	0.37707	0.289072	1	0.04
51	pick_mug	-0.001859	-0.012545	-0.002101	0.046005	-0.177045	0.006612	-0.001976	-0.014184	-0.002098	-1.851449	-0.134936	-1.828232	-0.002992	-0.002221	-0.000788	1.663182	-0.173739	1.670308	-0.78529	0.000219	-0.7853	0.524815	0.500025	-0.002571	0.00001	0.377962	0.289073	1	0.04
52	pick_mug	-0.002152	-0.006258	-0.001936	0.040022	-0.169743	0.001183	-0.002323	-0.00726	-0.001934	-1.85621	-0.128259	-1.832694	-0.002971	0.001583	-0.000725	1.657097	-0.160723	1.664114	-0.785285	0.000161	-0.7853	0.521912	0.500025	-0.002907	0.00001	0.378834	0.289071	1	0.04
53	pick_mug	-0.002239	-0.000024	-0.001745	0.034294	-0.162529	-0.00399	-0.002434	0.000053	-0.001742	-1.860727	-0.121619	-1.836935	-0.002864	0.003067	-0.000651	1.651348	-0.154179	1.658209	-0.785284	-0.000048	-0.7853	0.519159	0.499992	-0.002993	0.000025	0.379685	0.289072	1	0.04
54	pick_mug	-0.002151	0.004613	-0.001591	0.02915	-0.141647	-0.007685	-0.002334	0.00574	-0.001588	-1.864659	-0.102549	-1.839962	-0.00275	0.002798	-0.000591	1.646682	-0.107592	1.653985	-0.785288	-0.000131	-0.7853	0.516802	0.50002	-0.002875	0.000007	0.380515	0.289073	1	0.04
55	pick_mug	-0.001944	0.007563	-0.00138	0.024136	-0.145139	-0.013056	-0.002093	0.009168	-0.001377	-1.868584	-0.108498	-1.844358	-0.002645	0.002194	-0.000509	1.641871	-0.149881	1.647839	-0.785293	-0.000141	-0.7853	0.514473	0.500026	-0.002621	0.000001	0.381273	0.28907	1	0.04
56	pick_mug	-0.001677	0.008522	-0.001239	0.019439	-0.130798	-0.016623	-0.001777	0.010383	-0.001235	-1.872212	-0.096778	-1.847278	-0.002559	0.00225	-0.000454	1.636824	-0.126912	1.643751	-0.785296	-0.000027	-0.7853	0.512142	0.499983	-0.002301	0.000015	0.38198	0.289073	1	0.04
57	pick_mug	-0.001404	0.008145	-0.001092	0.015133	-0.120499	-0.020363	-0.001455	0.009819	-0.001088	-1.875575	-0.090306	-1.850339	-0.002471	0.001932	-0.000397	1.632688	-0.103617	1.639458	-0.785298	-0.000031	-0.7853	0.510104	0.500025	-0.001973	0.000007	0.382627	0.289074	1	0.04
58	pick_mug	-0.001155	0.007132	-0.000938	0.011082	-0.114651	-0.024094	-0.001168	0.008406	-0.000934	-1.878772	-0.086463	-1.853391	-0.002404	0.001168	-0.000336	1.628817	-0.107683	1.63517	-0.7853	-0.00003	-0.7853	0.508193	0.500025	-0.001681	0.000005	0.383218	0.289071	1	0.04
59	pick_mug	-0.000925	0.006757	-0.000675	0.007201	-0.11023	-0.027674	-0.000921	0.007503	-0.000669	-1.881849	-0.083719	-1.856309	-0.002331	0.002051	-0.000232	1.624736	-0.113632	1.631059	-0.785299	0.000064	-0.7853	0.506275	0.49999	-0.00142	0.00002	0.383763	0.289073	1	0.04
60	pick_mug	-0.000698	0.006829	-0.000401	0.003486	-0.105305	-0.031049	-0.000689	0.007343	-0.000394	-1.884811	-0.080458	-1.859056	-0.002227	0.002815	-0.000124	1.620713	-0.106738	1.62718	-0.785297	0.00006	-0.7853	0.504401	0.500024	-0.001165	0.000008	0.384273	0.289074	1	0.04
61	pick_mug	-0.000481	0.006391	-0.000234	-0.000043	-0.099778	-0.034209	-0.000463	0.006983	-0.000226	-1.887626	-0.075971	-1.861634	-0.002135	0.001733	-0.000058	1.617057	-0.094913	1.62354	-0.785297	-0.00003	-0.7853	0.502653	0.500026	-0.000921	0.000005	0.384758	0.289071	1	0.04
62	pick_mug	-0.000294	0.005199	-0.000167	-0.003021	-0.079525	-0.035852	-0.000258	0.005858	-0.00016	-1.889887	-0.056971	-1.862977	-0.002097	0.00046	-0.000031	1.614695	-0.042498	1.621643	-0.785298	-0.000034	-0.7853	0.501339	0.499989	-0.000714	0.000026	0.385235	0.289072	1	0.04
63	pick_mug	-0.000143	0.00413	-0.000045	-0.005835	-0.081478	-0.038988	-0.000099	0.004494	-0.000037	-1.892075	-0.060416	-1.86554	-0.002071	0.000233	0.000018	1.612406	-0.078598	1.618021	-0.7853	-0.000021	-0.7853	0.500121	0.500027	-0.000551	0.000004	0.385663	0.289072	1	0.04
64	pick_mug	-0.000034	0.002795	-0.00002	-0.008335	-0.067833	-0.040478	0.00002	0.00308	-0.000011	-1.893952	-0.048919	-1.866759	-0.002057	0.000393	0.000028	1.609869	-0.060653	1.616298	-0.7853	0.000057	-0.7853	0.498913	0.500025	-0.000431	0.000006	0.386056	0.289071	1	0.04
65	pick_mug	0.000032	0.001517	-0.000008	-0.010425	-0.056493	-0.041985	0.000091	0.001625	0	-1.895534	-0.041454	-1.867993	-0.002042	0.00005	0.000032	1.608178	-0.036379	1.614552	-0.785298	0.000028	-0.7853	0.497991	0.499993	-0.000357	0.000025	0.38639	0.289072	1	0.04
66	pick_mug	0.000061	0.000493	-0.000004	-0.012209	-0.04891	-0.043426	0.00012	0.000426	0.000004	-1.896912	-0.036436	-1.869173	-0.002049	-0.000653	0.000034	1.606877	-0.035555	1.612883	-0.785299	0.000002	-0.7853	0.497239	0.500026	-0.000327	0.000007	0.386669	0.289073	1	0.04
67	pick_mug	0.000063	-0.0002	-0.000005	-0.013782	-0.043502	-0.044736	0.000118	-0.00039	0.000004	-1.898148	-0.033274	-1.870243	-0.002067	-0.000597	0.000034	1.60545	-0.041216	1.611366	-0.785298	0.000035	-0.7853	0.496511	0.500025	-0.000331	0.000008	0.386896	0.28907	1	0.04
68	pick_mug	0.000052	-0.00047	-0.000005	-0.014867	-0.025692	-0.044736	0.000099	-0.000686	0.000004	-1.898947	-0.018298	-1.870243	-0.002074	0.000079	0.000034	1.604835	0.001323	1.611366	-0.785297	0.00006	-0.7853	0.496075	0.499996	-0.000347	0.000022	0.387086	0.289071	1	0.04
69	pick_mug	0.000035	-0.000526	-0.000005	-0.015449	-0.012574	-0.044736	0.000076	-0.000724	0.000004	-1.899345	-0.008058	-1.870243	-0.002071	0.000011	0.000034	1.605302	0.019682	1.611366	-0.785296	-0.000022	-0.7853	0.496029	0.500027	-0.000366	0.000004	0.387225	0.289072	1	0.04
70	pick_mug	0.000019	-0.000468	-0.000005	-0.015716	-0.005401	-0.044736	0.000054	-0.00063	0.000004	-1.899508	-0.003299	-1.870243	-0.002076	-0.000238	0.000034	1.605748	0.006478	1.611366	-0.785297	-0.000033	-0.7853	0.496073	0.500027	-0.000385	0.000003	0.387306	0.28907	1	0.04
71	pick_mug	0.000006	-0.000362	-0.000005	-0.015821	-0.001761	-0.044736	0.000037	-0.000481	0.000004	-1.899595	-0.002628	-1.870243	-0.00208	-0.000013	0.000034	1.605712	-0.005802	1.611366	-0.785297	0.000016	-0.7853	0.496041	0.499991	-0.000402	0.000022	0.387324	0.289072	1	0.04
72	pick_mug	-0.000004	-0.00023	-0.000005	-0.015839	0.000375	-0.044736	0.000024	-0.000302	0.000004	-1.899686	-0.002993	-1.870243	-0.002078	0.000103	0.000034	1.605519	-0.004616	1.611366	-0.785297	0.000024	-0.7853	0.495973	0.500023	-0.000413	0.000005	0.387291	0.289072	1	0.04
73	pick_mug	-0.000009	-0.000105	-0.000005	-0.015805	0.0015	-0.044736	0.000018	-0.000133	0.000004	-1.899778	-0.002655	-1.870243	-0.002077	-0.000089	0.000034	1.605464	0.000573	1.611366	-0.785296	-0.000003	-0.7853	0.495936	0.500027	-0.000419	0.000003	0.387235	0.28907	1	0.04
74	pick_mug	-0.00001	-0.000017	-0.000005	-0.015752	0.001645	-0.044736	0.000016	-0.000016	0.000004	-1.899849	-0.001783	-1.870243	-0.002082	-0.000172	0.000034	1.605515	0.001768	1.611366	-0.785297	-0.000012	-0.7853	0.49593	0.499992	-0.000422	0.000026	0.38718	0.289071	1	0.04
75	pick_mug	-0.00001	0.000029	-0.000005	-0.015706	0.001169	-0.044736	0.000016	0.000044	0.000004	-1.899892	-0.001013	-1.870243	-0.002086	-0.00002	0.000034	1.605547	0.00022	1.611366	-0.785297	-0.000003	-0.7853	0.495929	0.500026	-0.000422	0.000006	0.387139	0.289073	1	0.04
76	pick_mug	-0.000009	0.000048	-0.000005	-0.015679	0.000571	-0.044736	0.000018	0.000067	0.000004	-1.899916	-0.000518	-1.870243	-0.002084	0.000107	0.000034	1.605536	-0.000595	1.611366	-0.785297	0.000002	-0.7853	0.495922	0.500026	-0.00042	0.000005	0.387115	0.28907	1	0.04
77	pick_mug	-0.000007	0.00005	-0.000005	-0.015669	0.000126	-0.044736	0.00002	0.000069	0.000004	-1.899926	-0.000173	-1.870243	-0.00208	0.000076	0.000034	1.605522	-0.000158	1.611366	-0.785297	-0.000001	-0.7853	0.495916	0.499994	-0.000418	0.000022	0.387104	0.289073	1	0.04
78	pick_mug	-0.000006	0.000042	-0.000005	-0.01567	-0.000135	-0.044736	0.000022	0.000057	0.000004	-1.899927	0.000084	-1.870243	-0.002079	0.000003	0.000034	1.605527	0.000311	1.611366	-0.785297	-0.000002	-0.7853	0.495917	0.500024	-0.000416	0.000007	0.387104	0.289073	1	0.04
79	pick_mug	-0.000005	0.000027	-0.000005	-0.015677	-0.00026	-0.044736	0.000024	0.000036	0.000004	-1.899922	0.000222	-1.870243	-0.00208	-0.000009	0.000034	1.605537	0.000258	1.611366	-0.785297	-0.000001	-0.7853	0.49592	0.500026	-0.000414	0.000004	0.38711	0.289071	1	0.04
80	pick_mug	-0.000004	0.000013	-0.000005	-0.015686	-0.000282	-0.044736	0.000025	0.000017	0.000004	-1.899914	0.000236	-1.870243	-0.00208	0.000013	0.000034	1.605541	0.000024	1.611366	-0.785297	0	-0.7853	0.495922	0.499989	-0.000414	0.000022	0.387117	0.289072	1	0.04
81	pick_mug	-0.000004	0.000002	-0.000005	-0.015694	-0.000231	-0.044736	0.000025	0.000003	0.000004	-1.899907	0.000176	-1.870243	-0.002079	0.000016	0.000034	1.60554	-0.00006	1.611366	-0.785297	0	-0.7853	0.495924	0.500023	-0.000413	0.000007	0.387124	0.289073	1	0.04
82	pick_mug	-0.000004	-0.000004	-0.000005	-0.0157	-0.000145	-0.044736	0.000025	-0.000005	0.000004	-1.899903	0.000102	-1.870243	-0.002079	-0.000001	0.000034	1.605539	-0.000018	1.611366	-0.785297	0	-0.7853	0.495924	0.500026	-0.000413	0.000004	0.387129	0.289071	1	0.04
83	pick_mug	-0.000004	-0.000006	-0.000005	-0.015703	-0.000063	-0.044736	0.000025	-0.000009	0.000004	-1.899901	0.000041	-1.870243	-0.002079	-0.000011	0.000034	1.605539	0.000011	1.611366	-0.785297	0	-0.7853	0.495925	0.499989	-0.000413	0.00002	0.387132	0.289073	1	0.04
84	pick_mug	-0.000004	-0.000007	-0.000005	-0.015704	-0.000004	-0.044736	0.000024	-0.000009	0.000004	-1.8999	-0.000001	-1.870243	-0.002079	-0.000008	0.000034	1.605539	-0.000005	1.611366	-0.785297	0	-0.7853	0.495925	0.500026	-0.000414	0.000009	0.387133	0.289074	1	0.04
85	pick_mug	-0.000004	-0.000006	-0.000005	-0.015704	0.000029	-0.044736	0.000024	-0.000007	0.000004	-1.899901	-0.000026	-1.870243	-0.002079	-0.000002	0.000034	1.605538	-0.000022	1.611366	-0.785297	0	-0.7853	0.495924	0.500027	-0.000414	0.000007	0.387132	0.289071	1	0.04
86	pick_mug	-0.000005	-0.000004	-0.000005	-0.015702	0.00004	-0.044736	0.000024	-0.000005	0.000004	-1.899902	-0.000035	-1.870243	-0.002079	-0.000001	0.000034	1.605538	-0.000017	1.611366	-0.785297	0	-0.7853	0.495924	0.499992	-0.000414	0.000024	0.387131	0.289073	1	0.04
87	pick_mug	-0.000005	-0.000002	-0.000005	-0.015701	0.000038	-0.044736	0.000024	-0.000002	0.000004	-1.899903	-0.000031	-1.870243	-0.00208	-0.000001	0.000034	1.605537	-0.000004	1.611366	-0.785297	-0	-0.7853	0.495924	0.500026	-0.000414	0.000006	0.38713	0.289074	1	0.04
88	pick_mug	-0.000005	-0	-0.000005	-0.0157	0.000028	-0.044736	0.000024	-0.000001	0.000004	-1.899904	-0.000022	-1.870243	-0.00208	-0.000001	0.000034	1.605537	0.000002	1.611366	-0.785297	-0	-0.7853	0.495924	0.500027	-0.000414	0.000003	0.387129	0.289071	1	0.04
89	pick_mug	-0.000005	0	-0.000005	-0.015699	0.000016	-0.044736	0.000024	0.000001	0.000004	-1.899904	-0.000011	-1.870243	-0.00208	0.000001	0.000034	1.605537	0.000002	1.611366	-0.785297	-0	-0.7853	0.495924	0.499993	-0.000414	0.000025	0.387129	0.289071	1	0.04
90	pick_mug	-0.000005	0.000001	-0.000005	-0.015699	0.000005	-0.044736	0.000024	0.000001	0.000004	-1.899904	-0.000003	-1.870243	-0.00208	0.000001	0.000034	1.605537	0.000002	1.611366	-0.785297	-0	-0.7853	0.495924	0.500025	-0.000414	0.000007	0.387128	0.289073	1	0.04
91	pick_mug	-0.000005	0.000001	-0.000005	-0.015699	-0.000002	-0.044736	0.000024	0.000001	0.000004	-1.899904	0.000002	-1.870243	-0.002079	0.000001	0.000034	1.605537	0.000002	1.611366	-0.785297	-0	-0.7853	0.495924	0.500026	-0.000414	0.000004	0.387128	0.28907	1	0.04
92	pick_mug	-0.000005	0.000001	-0.000005	-0.015699	-0.000005	-0.044736	0.000024	0.000001	0.000004	-1.899904	0.000005	-1.870243	-0.002079	0	0.000034	1.605537	0.000002	1.611366	-0.785297	-0	-0.7853	0.495924	0.499992	-0.000414	0.000022	0.387128	0.289072	1	0.04
93	pick_mug	-0.000005	0.000001	-0.000005	-0.015699	-0.000006	-0.044736	0.000024	0.000001	0.000004	-1.899904	0.000005	-1.870243	-0.002079	0	0.000034	1.605538	0.000001	1.611366	-0.785297	-0	-0.7853	0.495924	0.500023	-0.000414	0.000006	0.387129	0.289073	1	0.04
94	pick_mug	-0.000005	0	-0.000005	-0.0157	-0.000005	-0.044736	0.000024	0	0.000004	-1.899904	0.000004	-1.870243	-0.002079	0	0.000034	1.605538	0	1.611366	-0.785297	0	-0.7853	0.495924	0.500026	-0.000414	0.000001	0.387129	0.28907	1	0.04
95	pick_mug	-0.000005	0	-0.000005	-0.0157	-0.000003	-0.044736	0.000024	0	0.000004	-1.899904	0.000002	-1.870243	-0.002079	-0	0.000034	1.605538	-0	1.611366	-0.785297	0	-0.7853	0.495924	0.49999	-0.000414	0.000023	0.387129	0.289072	1	0.04
96	pick_mug	-0.000005	-0	-0.000005	-0.0157	-0.000002	-0.044736	0.000024	-0	0.000004	-1.899904	0.000001	-1.870243	-0.002079	-0	0.000034	1.605538	-0	1.611366	-0.785297	0	-0.7853	0.495924	0.500024	-0.000414	0.000007	0.387129	0.289072	1	0.04
97	pick_mug	-0.000005	-0	-0.000005	-0.0157	-0	-0.044736	0.000024	-0	0.000004	-1.899904	0	-1.870243	-0.002079	-0	0.000034	1.605538	-0	1.611366	-0.785297	0	-0.7853	0.495924	0.500027	-0.000414	0.000005	0.387129	0.28907	1	0.04
98	pick_mug	-0.000005	-0	-0.000005	-0.0157	0.000001	-0.044736	0.000024	-0	0.000004	-1.899904	-0	-1.870243	-0.002079	-0	0.000034	1.605538	-0	1.611366	-0.785297	0	-0.7853	0.495924	0.499992	-0.000414	0.000025	0.387129	0.289072	1	0.04
99	pick_mug	-0.000005	-0	-0.000005	-0.0157	0.000001	-0.044736	0.000024	-0	0.000004	-1.899904	-0.000001	-1.870243	-0.002079	-0	0.000034	1.605538	-0	1.611366	-0.785297	0	-0.7853	0.495924	0.500026	-0.000414	0.000007	0.387129	0.289073	1	0.04

End of preview. Expand in Data Studio

Flexa Pick Mug V5

Robot training dataset generated from a single iPhone 15 Pro LiDAR recording of a human picking up a mug.

Pipeline

iPhone .r3d recording -> GroundingDINO (object detection) -> HaMeR (3D hand mesh) -> LiDAR depth fusion -> Spatial trajectory retargeting (V5 hybrid) -> IK solve -> LeRobot HDF5

Results

18.1cm clean mug lift in MuJoCo Franka Panda simulation
0 table collisions
93.7% hand pose coverage (282/301 frames)

Data Format

Observations (14-dim): qpos_arm[7] + ee_pos[3] + mug_pos[3] + gripper[1]
Actions (8-dim): target_qpos[7] + target_gripper[1]
Episodes: 1 (270 steps @ 30fps)

Usage

import h5py
with h5py.File("data/data.hdf5", "r") as f:
    ep = f["episode_0"]
    obs = ep["observations/qpos_arm"][:]
    actions = ep["actions/target_qpos"][:]

Source

Recording: iPhone 15 Pro, Record3D app
Robot: Franka Emika Panda 7-DoF
Simulator: MuJoCo
Pipeline: FlexaTechnologies-pipeline

License

CC-BY-4.0

Downloads last month: 22

Size of downloaded dataset files:

78.3 kB

Size of the auto-converted Parquet files:

78.3 kB

Number of rows:

270