metadata
dataset_info:
features:
- name: trajectory_id
dtype: string
- name: task
dtype: string
- name: control
list:
list: float64
- name: current
list:
list: float64
- name: ee_pos_quat
list:
list: float64
- name: error_status
list:
list: int64
- name: gripper_position
list:
list: float64
- name: i_target
list:
list: float64
- name: joint_currents
list:
list: float64
- name: joint_positions
list:
list: float64
- name: joint_torques
list:
list: float64
- name: joint_velocities
list:
list: float64
- name: m_target
list:
list: float64
- name: motor_temperatures
list:
list: float64
- name: q_actual_fb
list:
list: float64
- name: q_target
list:
list: float64
- name: qd_target
list:
list: float64
- name: qdd_target
list:
list: float64
- name: robot_mode
list:
list: int64
- name: running_status
list:
list: int64
- name: six_force
list:
list: float64
- name: tcp_force
list:
list: float64
- name: tcp_pose
list:
list: float64
- name: tcp_speed
list:
list: float64
- name: tcp_speed_target
list:
list: float64
- name: tcp_target
list:
list: float64
- name: timestamp
list:
list: int64
- name: voltage
list:
list: float64
splits:
- name: passing
num_bytes: 28429306
num_examples: 50
- name: peginhole
num_bytes: 34616083
num_examples: 73
- name: towelfolding
num_bytes: 91680176
num_examples: 56
download_size: 98296208
dataset_size: 154725565
configs:
- config_name: default
data_files:
- split: passing
path: data/passing-*
- split: peginhole
path: data/peginhole-*
- split: towelfolding
path: data/towelfolding-*