Search is not available for this dataset
episode_index int64 0 3 | frame_index int64 0 47.6k | timestamp float64 1.76B 1.76B | observation.state listlengths 6 6 | observation.velocity listlengths 6 6 | observation.wrench listlengths 6 6 | action listlengths 6 6 | next.done bool 2 classes |
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End of preview. Expand
in Data Studio
TOCA Demo Dataset (LeRobot Compatible)
This dataset was converted from the BOTA driver SQLite recording.
Structure
observation.state: Joint positions (6 DOF)observation.velocity: Joint velocities (6 DOF)observation.wrench: Force/Torque sensor data (Fx, Fy, Fz, Tx, Ty, Tz)action: Joint positions (Target for Imitation Learning)episode_index: ID of the episodeframe_index: Frame number within the episodetimestamp: Time in secondsnext.done: Boolean indicating end of episode
Loading with LeRobot / Hugging Face Datasets
from datasets import load_dataset
dataset = load_dataset("./lerobot_dataset")
print(dataset['train'][0])
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