Hugging Face's logo

Datasets:
primordial-spork
/
lerobot_test_force_sensor_limiting

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
< 1K
Tags:
LeRobot
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
xet
 Community
Dataset Viewer
Auto-converted to Parquet Duplicate
Search is not available for this dataset
action
list
observation.state
list
timestamp
float32
0
30.2
frame_index
int64
0
905
episode_index
int64
0
0
index
int64
0
905
task_index
int64
0
0
[ -3.6234591007232666, -99.40677642822266, 24.61398696899414, 99.65156555175781, 1.1477411985397339, 31.996658325195312 ]
[ -4.137930870056152, -98.9916000366211, 24.375850677490234, 98.88555145263672, 1.0989011526107788, 32.19315719604492, 0 ]
0
0
0
0
0
[ -3.6234591007232666, -99.40677642822266, 24.61398696899414, 99.65156555175781, 1.1477411985397339, 31.996658325195312 ]
[ -4.137930870056152, -98.9916000366211, 24.375850677490234, 98.88555145263672, 1.0989011526107788, 32.19315719604492, 0 ]
0.033333
1
0
1
0
[ -3.6234591007232666, -99.40677642822266, 24.61398696899414, 99.65156555175781, 1.1477411985397339, 31.996658325195312 ]
[ -4.137930870056152, -98.9916000366211, 24.375850677490234, 98.97128295898438, 1.0989011526107788, 32.19315719604492, 0 ]
0.066667
2
0
2
0
[ -3.6234591007232666, -99.40677642822266, 24.61398696899414, 99.65156555175781, 1.1477411985397339, 31.996658325195312 ]
[ -4.137930870056152, -98.9916000366211, 24.375850677490234, 99.0570068359375, 1.0989011526107788, 32.19315719604492, 0 ]
0.1
3
0
3
0
[ -3.6234591007232666, -99.40677642822266, 24.61398696899414, 99.65156555175781, 1.1477411985397339, 31.996658325195312 ]
[ -4.137930870056152, -98.9916000366211, 24.375850677490234, 99.0570068359375, 1.0989011526107788, 32.19315719604492, 0 ]
0.133333
4
0
4
0
[ -3.6234591007232666, -99.40677642822266, 24.61398696899414, 99.65156555175781, 1.1477411985397339, 31.996658325195312 ]
[ -4.137930870056152, -98.9916000366211, 24.375850677490234, 99.0570068359375, 1.0989011526107788, 32.19315719604492, 0 ]
0.166667
5
0
5
0
[ -3.6234591007232666, -99.40677642822266, 24.61398696899414, 99.65156555175781, 1.1477411985397339, 31.996658325195312 ]
[ -4.137930870056152, -98.9916000366211, 24.375850677490234, 99.0570068359375, 1.0989011526107788, 32.19315719604492, 0 ]
0.2
6
0
6
0
[ -3.6234591007232666, -99.40677642822266, 24.61398696899414, 99.65156555175781, 1.1477411985397339, 31.996658325195312 ]
[ -4.137930870056152, -98.9916000366211, 24.375850677490234, 99.0570068359375, 1.0989011526107788, 32.19315719604492, 0 ]
0.233333
7
0
7
0
[ -3.6234591007232666, -99.40677642822266, 24.61398696899414, 99.65156555175781, 1.1477411985397339, 31.996658325195312 ]
[ -4.137930870056152, -98.9916000366211, 24.375850677490234, 99.0570068359375, 1.0989011526107788, 32.19315719604492, 0 ]
0.266667
8
0
8
0
[ -3.6234591007232666, -99.40677642822266, 24.61398696899414, 99.65156555175781, 1.1477411985397339, 31.996658325195312 ]
[ -4.137930870056152, -98.9916000366211, 24.375850677490234, 99.0570068359375, 1.0989011526107788, 32.19315719604492, 0 ]
0.3
9
0
9
0
[ -3.6234591007232666, -99.40677642822266, 24.61398696899414, 99.65156555175781, 1.1477411985397339, 31.996658325195312 ]
[ -4.137930870056152, -98.9916000366211, 24.375850677490234, 99.0570068359375, 1.0989011526107788, 32.19315719604492, 0 ]
0.333333
10
0
10
0
[ -3.6234591007232666, -99.32203674316406, 24.61398696899414, 99.65156555175781, 1.1477411985397339, 31.996658325195312 ]
[ -4.137930870056152, -98.9916000366211, 24.375850677490234, 99.0570068359375, 1.0989011526107788, 32.19315719604492, 0 ]
0.366667
11
0
11
0
[ -3.6234591007232666, -99.32203674316406, 24.523160934448242, 99.65156555175781, 1.1477411985397339, 31.996658325195312 ]
[ -4.137930870056152, -98.9916000366211, 24.375850677490234, 99.0570068359375, 1.0989011526107788, 32.19315719604492, 0 ]
0.4
12
0
12
0
[ -3.6234591007232666, -99.23728942871094, 24.523160934448242, 99.65156555175781, 1.1477411985397339, 31.996658325195312 ]
[ -4.137930870056152, -98.9916000366211, 24.375850677490234, 99.0570068359375, 1.0989011526107788, 32.19315719604492, 0 ]
0.433333
13
0
13
0
[ -3.6234591007232666, -99.23728942871094, 24.523160934448242, 99.65156555175781, 1.1477411985397339, 31.996658325195312 ]
[ -4.137930870056152, -98.9916000366211, 24.375850677490234, 99.0570068359375, 1.0989011526107788, 32.19315719604492, 0 ]
0.466667
14
0
14
0
[ -3.698169708251953, -99.15254211425781, 24.523160934448242, 99.65156555175781, 1.1477411985397339, 31.996658325195312 ]
[ -4.137930870056152, -98.9916000366211, 24.375850677490234, 99.0570068359375, 1.0989011526107788, 32.19315719604492, 0 ]
0.5
15
0
15
0
[ -3.698169708251953, -99.15254211425781, 24.523160934448242, 99.65156555175781, 1.1477411985397339, 31.996658325195312 ]
[ -4.137930870056152, -98.9916000366211, 24.375850677490234, 99.0570068359375, 1.0989011526107788, 32.19315719604492, 0 ]
0.533333
16
0
16
0
[ -3.698169708251953, -99.06779479980469, 24.523160934448242, 99.65156555175781, 1.1477411985397339, 31.996658325195312 ]
[ -4.137930870056152, -98.9916000366211, 24.375850677490234, 99.0570068359375, 1.0989011526107788, 32.19315719604492, 0 ]
0.566667
17
0
17
0
[ -3.698169708251953, -99.06779479980469, 24.523160934448242, 99.65156555175781, 1.1477411985397339, 31.996658325195312 ]
[ -4.137930870056152, -98.9916000366211, 24.375850677490234, 99.0570068359375, 1.0989011526107788, 32.19315719604492, 0 ]
0.6
18
0
18
0
[ -3.698169708251953, -99.06779479980469, 24.432334899902344, 99.65156555175781, 1.1477411985397339, 31.996658325195312 ]
[ -4.137930870056152, -98.9916000366211, 24.375850677490234, 99.0570068359375, 1.0989011526107788, 32.19315719604492, 0 ]
0.633333
19
0
19
0
[ -3.698169708251953, -99.06779479980469, 24.432334899902344, 99.65156555175781, 1.1477411985397339, 31.996658325195312 ]
[ -4.137930870056152, -98.9916000366211, 24.375850677490234, 99.0570068359375, 1.0989011526107788, 32.19315719604492, 0 ]
0.666667
20
0
20
0
[ -3.698169708251953, -98.98304748535156, 24.432334899902344, 99.65156555175781, 1.1477411985397339, 31.996658325195312 ]
[ -4.137930870056152, -98.9916000366211, 24.375850677490234, 99.0570068359375, 1.0989011526107788, 32.19315719604492, 0 ]
0.7
21
0
21
0
[ -3.698169708251953, -98.6440658569336, 24.432334899902344, 99.65156555175781, 1.1477411985397339, 31.996658325195312 ]
[ -4.137930870056152, -98.9916000366211, 24.375850677490234, 99.0570068359375, 1.0989011526107788, 32.19315719604492, 0 ]
0.733333
22
0
22
0
[ -3.698169708251953, -96.86441040039062, 24.432334899902344, 99.65156555175781, 1.1477411985397339, 31.996658325195312 ]
[ -4.137930870056152, -98.9916000366211, 24.375850677490234, 99.0570068359375, 1.0989011526107788, 32.19315719604492, 0 ]
0.766667
23
0
23
0
[ -3.698169708251953, -94.74576568603516, 24.341506958007812, 99.65156555175781, 1.1477411985397339, 32.0802001953125 ]
[ -4.137930870056152, -98.9916000366211, 24.375850677490234, 99.0570068359375, 1.0989011526107788, 32.19315719604492, 0 ]
0.8
24
0
24
0
[ -3.698169708251953, -93.05084991455078, 24.341506958007812, 99.65156555175781, 1.0500611066818237, 32.0802001953125 ]
[ -4.137930870056152, -98.48739624023438, 24.375850677490234, 99.0570068359375, 1.0989011526107788, 32.19315719604492, 0 ]
0.833333
25
0
25
0
[ -3.698169708251953, -91.61016845703125, 24.341506958007812, 99.65156555175781, 1.0500611066818237, 31.996658325195312 ]
[ -4.061302661895752, -97.56302642822266, 24.375850677490234, 99.0570068359375, 1.0989011526107788, 32.19315719604492, 0 ]
0.866667
26
0
26
0
[ -3.698169708251953, -90.50847625732422, 24.250680923461914, 99.65156555175781, 1.0500611066818237, 31.996658325195312 ]
[ -4.061302661895752, -95.71428680419922, 24.375850677490234, 99.0570068359375, 1.0989011526107788, 32.19315719604492, 0 ]
0.9
27
0
27
0
[ -3.698169708251953, -89.49152374267578, 24.250680923461914, 99.47734832763672, 1.1477411985397339, 32.0802001953125 ]
[ -4.061302661895752, -94.5378189086914, 24.375850677490234, 99.0570068359375, 1.0989011526107788, 32.19315719604492, 0 ]
0.933333
28
0
28
0
[ -3.698169708251953, -88.2203369140625, 24.250680923461914, 99.21602630615234, 1.1477411985397339, 32.16374206542969 ]
[ -4.061302661895752, -93.10924530029297, 24.375850677490234, 99.0570068359375, 1.0989011526107788, 32.19315719604492, 0 ]
0.966667
29
0
29
0
[ -3.698169708251953, -86.69491577148438, 24.250680923461914, 99.12892150878906, 1.1477411985397339, 32.16374206542969 ]
[ -4.061302661895752, -91.84873962402344, 24.375850677490234, 99.0570068359375, 1.0989011526107788, 32.19315719604492, 0 ]
1
30
0
30
0
[ -3.698169708251953, -84.83050537109375, 24.250680923461914, 99.12892150878906, 1.1477411985397339, 32.16374206542969 ]
[ -4.061302661895752, -90.75630187988281, 24.375850677490234, 99.0570068359375, 1.0989011526107788, 32.19315719604492, 0 ]
1.033333
31
0
31
0
[ -3.698169708251953, -82.62712097167969, 24.250680923461914, 99.12892150878906, 1.1477411985397339, 32.33082580566406 ]
[ -4.061302661895752, -89.15966033935547, 24.375850677490234, 99.0570068359375, 1.0989011526107788, 32.19315719604492, 0 ]
1.066667
32
0
32
0
[ -3.698169708251953, -80, 24.250680923461914, 99.12892150878906, 1.196581244468689, 32.33082580566406 ]
[ -4.061302661895752, -87.73109436035156, 24.375850677490234, 99.0570068359375, 1.0989011526107788, 32.19315719604492, 0 ]
1.1
33
0
33
0
[ -3.698169708251953, -77.2033920288086, 24.250680923461914, 99.12892150878906, 1.196581244468689, 32.41436767578125 ]
[ -4.061302661895752, -85.96638488769531, 24.375850677490234, 99.0570068359375, 1.0989011526107788, 32.19315719604492, 0 ]
1.133333
34
0
34
0
[ -3.698169708251953, -74.40677642822266, 23.887374877929688, 99.04180908203125, 1.196581244468689, 32.41436767578125 ]
[ -4.061302661895752, -83.61344909667969, 24.375850677490234, 99.0570068359375, 1.0989011526107788, 32.19315719604492, 0 ]
1.166667
35
0
35
0
[ -3.6234591007232666, -71.52542114257812, 22.70663070678711, 99.12892150878906, 1.196581244468689, 32.41436767578125 ]
[ -4.061302661895752, -81.34453582763672, 24.375850677490234, 99.0570068359375, 1.0989011526107788, 32.19315719604492, 0 ]
1.2
36
0
36
0
[ -3.6234591007232666, -68.72881317138672, 21.980018615722656, 99.21602630615234, 1.1477411985397339, 32.41436767578125 ]
[ -4.061302661895752, -78.48739624023438, 24.375850677490234, 99.0570068359375, 1.0989011526107788, 32.19315719604492, 0 ]
1.233333
37
0
37
0
[ -3.6234591007232666, -65.76271057128906, 21.5258846282959, 99.47734832763672, 1.0989011526107788, 32.41436767578125 ]
[ -4.061302661895752, -75.71428680419922, 24.285066604614258, 99.0570068359375, 1.0989011526107788, 32.19315719604492, 0 ]
1.266667
38
0
38
0
[ -3.4740381240844727, -63.050846099853516, 21.3442325592041, 99.56446075439453, 1.1477411985397339, 32.41436767578125 ]
[ -4.061302661895752, -72.52101135253906, 23.649568557739258, 99.0570068359375, 1.0989011526107788, 32.19315719604492, 0 ]
1.3
39
0
39
0
[ -3.249906539916992, -60.50847625732422, 21.3442325592041, 99.65156555175781, 1.1477411985397339, 32.41436767578125 ]
[ -4.061302661895752, -69.7479019165039, 23.377212524414062, 99.0570068359375, 1.0989011526107788, 32.19315719604492, 0 ]
1.333333
40
0
40
0
[ -3.1004855632781982, -58.305084228515625, 21.3442325592041, 99.65156555175781, 1.1477411985397339, 32.247283935546875 ]
[ -4.061302661895752, -66.97479248046875, 23.195642471313477, 99.0570068359375, 1.0989011526107788, 32.19315719604492, 0 ]
1.366667
41
0
41
0
[ -3.1004855632781982, -56.27118682861328, 21.3442325592041, 99.65156555175781, 1.1477411985397339, 32.33082580566406 ]
[ -3.9846742153167725, -63.949581146240234, 23.104856491088867, 99.0570068359375, 1.0989011526107788, 32.19315719604492, 0 ]
1.4
42
0
42
0
[ -3.1004855632781982, -54.40678024291992, 21.3442325592041, 99.65156555175781, 1.1477411985397339, 32.41436767578125 ]
[ -3.9846742153167725, -61.59663772583008, 23.104856491088867, 99.0570068359375, 1.0989011526107788, 32.19315719604492, 0 ]
1.433333
43
0
43
0
[ -3.1004855632781982, -52.54237365722656, 21.3442325592041, 99.65156555175781, 1.0989011526107788, 32.41436767578125 ]
[ -3.9846742153167725, -58.99159622192383, 23.104856491088867, 99.0570068359375, 1.0989011526107788, 32.19315719604492, 0 ]
1.466667
44
0
44
0
[ -3.1004855632781982, -50.84745788574219, 21.3442325592041, 99.65156555175781, 1.0012210607528687, 32.41436767578125 ]
[ -3.9846742153167725, -56.72269058227539, 23.104856491088867, 99.0570068359375, 1.0989011526107788, 32.19315719604492, 0 ]
1.5
45
0
45
0
[ -3.1004855632781982, -48.98305130004883, 21.3442325592041, 99.65156555175781, 1.0012210607528687, 32.41436767578125 ]
[ -3.9846742153167725, -54.87395095825195, 23.104856491088867, 99.0570068359375, 1.0989011526107788, 32.19315719604492, 0 ]
1.533333
46
0
46
0
[ -3.1004855632781982, -46.949153900146484, 21.3442325592041, 99.65156555175781, 0.9523809552192688, 32.41436767578125 ]
[ -3.9846742153167725, -52.94117736816406, 23.104856491088867, 99.0570068359375, 1.0989011526107788, 32.19315719604492, 0 ]
1.566667
47
0
47
0
[ -3.025775194168091, -45, 21.3442325592041, 99.65156555175781, 0.9523809552192688, 32.41436767578125 ]
[ -3.9846742153167725, -51.092437744140625, 23.104856491088867, 99.0570068359375, 1.0989011526107788, 32.19315719604492, 0 ]
1.6
48
0
48
0
[ -3.025775194168091, -43.050846099853516, 21.3442325592041, 99.65156555175781, 0.9035409092903137, 32.41436767578125 ]
[ -3.9846742153167725, -49.159664154052734, 23.104856491088867, 99.0570068359375, 1.0989011526107788, 32.19315719604492, 0 ]
1.633333
49
0
49
0
[ -3.025775194168091, -41.27118682861328, 21.3442325592041, 99.65156555175781, 0.9035409092903137, 32.41436767578125 ]
[ -3.9846742153167725, -46.806724548339844, 23.104856491088867, 99.0570068359375, 1.0989011526107788, 32.19315719604492, 0 ]
1.666667
50
0
50
0
[ -3.025775194168091, -39.3220329284668, 21.3442325592041, 99.65156555175781, 0.9035409092903137, 32.41436767578125 ]
[ -3.9846742153167725, -45.042015075683594, 23.104856491088867, 99.0570068359375, 1.0989011526107788, 32.19315719604492, 0 ]
1.7
51
0
51
0
[ -3.025775194168091, -37.45762634277344, 21.3442325592041, 99.65156555175781, 0.9035409092903137, 32.41436767578125 ]
[ -3.9846742153167725, -42.94117736816406, 23.104856491088867, 99.0570068359375, 1.0989011526107788, 32.19315719604492, 0 ]
1.733333
52
0
52
0
[ -3.025775194168091, -36.01694869995117, 21.3442325592041, 99.56446075439453, 0.9035409092903137, 32.41436767578125 ]
[ -3.9846742153167725, -41.092437744140625, 23.104856491088867, 99.0570068359375, 1.0989011526107788, 32.19315719604492, 0 ]
1.766667
53
0
53
0
[ -3.025775194168091, -34.40678024291992, 21.3442325592041, 99.47734832763672, 0.9523809552192688, 32.41436767578125 ]
[ -3.9846742153167725, -39.32773208618164, 23.104856491088867, 99.0570068359375, 1.0989011526107788, 32.19315719604492, 0 ]
1.8
54
0
54
0
[ -3.025775194168091, -32.966102600097656, 21.3442325592041, 99.21602630615234, 1.1477411985397339, 32.41436767578125 ]
[ -3.9846742153167725, -37.39495849609375, 23.104856491088867, 99.0570068359375, 1.0989011526107788, 32.19315719604492, 0 ]
1.833333
55
0
55
0
[ -3.025775194168091, -31.18644142150879, 21.3442325592041, 99.21602630615234, 1.1477411985397339, 32.247283935546875 ]
[ -3.9846742153167725, -35.96638488769531, 23.104856491088867, 99.0570068359375, 1.0989011526107788, 32.19315719604492, 0 ]
1.866667
56
0
56
0
[ -3.025775194168091, -29.6610164642334, 21.3442325592041, 99.21602630615234, 1.1477411985397339, 32.16374206542969 ]
[ -3.9846742153167725, -34.03361511230469, 23.104856491088867, 98.97128295898438, 1.0989011526107788, 32.19315719604492, 0 ]
1.9
57
0
57
0
[ -3.025775194168091, -28.13559341430664, 21.3442325592041, 99.21602630615234, 1.1477411985397339, 32.16374206542969 ]
[ -3.9846742153167725, -32.6890754699707, 23.104856491088867, 98.97128295898438, 1.0989011526107788, 32.19315719604492, 0 ]
1.933333
58
0
58
0
[ -3.025775194168091, -26.27118682861328, 21.3442325592041, 99.12892150878906, 1.196581244468689, 32.16374206542969 ]
[ -3.9846742153167725, -30.92436981201172, 23.104856491088867, 98.97128295898438, 1.0989011526107788, 32.19315719604492, 0 ]
1.966667
59
0
59
0
[ -3.025775194168091, -24.830509185791016, 21.3442325592041, 99.12892150878906, 1.3431013822555542, 32.16374206542969 ]
[ -3.9846742153167725, -29.243698120117188, 23.104856491088867, 98.97128295898438, 1.0989011526107788, 32.19315719604492, 0 ]
2
60
0
60
0
[ -3.025775194168091, -23.72881317138672, 21.3442325592041, 99.04180908203125, 2.5152626037597656, 32.16374206542969 ]
[ -3.9846742153167725, -27.647058486938477, 23.104856491088867, 98.97128295898438, 1.0989011526107788, 32.19315719604492, 0 ]
2.033333
61
0
61
0
[ -3.025775194168091, -23.13559341430664, 21.3442325592041, 98.95470428466797, 4.126984119415283, 32.16374206542969 ]
[ -3.9846742153167725, -26.0504207611084, 23.104856491088867, 98.97128295898438, 1.0989011526107788, 32.19315719604492, 0 ]
2.066667
62
0
62
0
[ -3.025775194168091, -22.542373657226562, 21.3442325592041, 98.95470428466797, 5.299145221710205, 32.247283935546875 ]
[ -3.9846742153167725, -24.53781509399414, 23.104856491088867, 98.97128295898438, 1.6849817037582397, 32.19315719604492, 0 ]
2.1
63
0
63
0
[ -2.9510645866394043, -21.610170364379883, 21.3442325592041, 98.95470428466797, 5.5433454513549805, 32.16374206542969 ]
[ -3.9846742153167725, -23.613445281982422, 23.104856491088867, 98.97128295898438, 2.759462833404541, 32.19315719604492, 0 ]
2.133333
64
0
64
0
[ -2.278670072555542, -20.67796516418457, 21.3442325592041, 98.3449478149414, 5.641025543212891, 32.16374206542969 ]
[ -3.9846742153167725, -22.85714340209961, 23.104856491088867, 98.97128295898438, 4.126984119415283, 32.19315719604492, 0 ]
2.166667
65
0
65
0
[ -1.6062756776809692, -19.830509185791016, 21.3442325592041, 96.51567840576172, 5.5433454513549805, 32.16374206542969 ]
[ -3.9846742153167725, -22.184873580932617, 23.104856491088867, 98.97128295898438, 4.859584808349609, 32.19315719604492, 0 ]
2.2
66
0
66
0
[ -0.9338812232017517, -19.06779670715332, 21.3442325592041, 95.73170471191406, 5.494505405426025, 32.33082580566406 ]
[ -3.601532459259033, -21.176469802856445, 23.104856491088867, 98.7998275756836, 5.25030517578125, 32.19315719604492, 0 ]
2.233333
67
0
67
0
[ -0.8591707348823547, -18.474576950073242, 21.3442325592041, 94.94773864746094, 5.494505405426025, 32.33082580566406 ]
[ -2.7586207389831543, -20.252099990844727, 23.104856491088867, 97.8568344116211, 5.299145221710205, 32.19315719604492, 0 ]
2.266667
68
0
68
0
[ -0.8591707348823547, -17.966102600097656, 21.253406524658203, 94.59930419921875, 5.494505405426025, 32.41436767578125 ]
[ -2.1455938816070557, -19.41176414489746, 23.104856491088867, 96.74239349365234, 5.299145221710205, 32.19315719604492, 0 ]
2.3
69
0
69
0
[ -0.8591707348823547, -17.372880935668945, 21.253406524658203, 94.51219177246094, 5.396825313568115, 32.41436767578125 ]
[ -1.7624521255493164, -18.7394962310791, 23.104856491088867, 95.79940032958984, 5.299145221710205, 32.19315719604492, 0 ]
2.333333
70
0
70
0
[ -0.8591707348823547, -16.525423049926758, 20.61762046813965, 94.33798217773438, 5.15262508392334, 32.41436767578125 ]
[ -1.7624521255493164, -18.235294342041016, 23.104856491088867, 95.1993179321289, 5.299145221710205, 32.19315719604492, 0 ]
2.366667
71
0
71
0
[ -0.8591707348823547, -15, 19.800182342529297, 93.8153305053711, 3.980463981628418, 32.41436767578125 ]
[ -1.7624521255493164, -17.563024520874023, 23.104856491088867, 95.02786254882812, 5.299145221710205, 32.19315719604492, 0 ]
2.4
72
0
72
0
[ -0.8591707348823547, -13.220338821411133, 18.25613021850586, 93.90243530273438, 3.7851037979125977, 32.41436767578125 ]
[ -1.7624521255493164, -16.890756607055664, 22.832500457763672, 94.59922790527344, 5.299145221710205, 32.19315719604492, 0 ]
2.433333
73
0
73
0
[ -0.8591707348823547, -11.949152946472168, 16.712080001831055, 93.90243530273438, 3.882783889770508, 32.41436767578125 ]
[ -1.7624521255493164, -15.798318862915039, 22.37857437133789, 94.42777252197266, 4.859584808349609, 32.19315719604492, 0 ]
2.466667
74
0
74
0
[ -0.8591707348823547, -11.016948699951172, 15.53133487701416, 93.90243530273438, 3.882783889770508, 32.49790954589844 ]
[ -1.7624521255493164, -14.117647171020508, 21.107580184936523, 94.2563247680664, 4.224664211273193, 32.19315719604492, 0 ]
2.5
75
0
75
0
[ -0.8591707348823547, -10.508474349975586, 14.804722785949707, 94.07665252685547, 3.7362637519836426, 32.49790954589844 ]
[ -1.7624521255493164, -12.689075469970703, 19.65501594543457, 94.2563247680664, 4.175824165344238, 32.19315719604492, 0 ]
2.533333
76
0
76
0
[ -0.8591707348823547, -10, 14.713896751403809, 93.98954772949219, 3.6385836601257324, 32.49790954589844 ]
[ -1.7624521255493164, -11.680672645568848, 18.474807739257812, 94.2563247680664, 4.126984119415283, 32.19315719604492, 0 ]
2.566667
77
0
77
0
[ -0.8591707348823547, -8.983051300048828, 14.713896751403809, 93.98954772949219, 3.5897436141967773, 32.49790954589844 ]
[ -1.7624521255493164, -10.840335845947266, 17.294597625732422, 94.08486938476562, 3.980463981628418, 32.19315719604492, 0 ]
2.6
78
0
78
0
[ -0.784460186958313, -7.8813557624816895, 14.713896751403809, 93.90243530273438, 3.5897436141967773, 32.49790954589844 ]
[ -1.7624521255493164, -10.336134910583496, 16.93145751953125, 94.08486938476562, 3.8339438438415527, 32.19315719604492, 0 ]
2.633333
79
0
79
0
[ -0.2614867389202118, -6.779661178588867, 14.623069763183594, 93.8153305053711, 3.5897436141967773, 32.49790954589844 ]
[ -1.7624521255493164, -9.411765098571777, 16.84067153930664, 94.08486938476562, 3.8339438438415527, 32.19315719604492, 0 ]
2.666667
80
0
80
0
[ -0.11206574738025665, -6.271186351776123, 14.532243728637695, 93.72822570800781, 3.6874237060546875, 32.49790954589844 ]
[ -1.7624521255493164, -8.235294342041016, 16.84067153930664, 94.08486938476562, 3.8339438438415527, 32.19315719604492, 0 ]
2.7
81
0
81
0
[ -0.037355247884988785, -5.847457408905029, 14.532243728637695, 93.72822570800781, 3.8339438438415527, 32.49790954589844 ]
[ -1.532567024230957, -7.310924530029297, 16.84067153930664, 94.08486938476562, 3.8339438438415527, 32.19315719604492, 0 ]
2.733333
82
0
82
0
[ -0.037355247884988785, -5.508474349975586, 14.532243728637695, 93.29268646240234, 3.931623935699463, 32.49790954589844 ]
[ -0.9961685538291931, -6.386554718017578, 16.84067153930664, 94.08486938476562, 3.8339438438415527, 32.19315719604492, 0 ]
2.766667
83
0
83
0
[ 0.037355247884988785, -5.169491291046143, 14.532243728637695, 92.24738311767578, 3.931623935699463, 32.49790954589844 ]
[ -0.8429118990898132, -6.05042028427124, 16.84067153930664, 94.08486938476562, 3.8339438438415527, 32.19315719604492, 0 ]
2.8
84
0
84
0
[ 0.4856182336807251, -4.830508708953857, 14.532243728637695, 92.1602783203125, 3.980463981628418, 32.49790954589844 ]
[ -0.8429118990898132, -5.630251884460449, 16.659101486206055, 93.82769012451172, 3.8339438438415527, 32.19315719604492, 0 ]
2.833333
85
0
85
0
[ 0.4856182336807251, -4.661016941070557, 14.532243728637695, 92.07317352294922, 3.980463981628418, 32.49790954589844 ]
[ -0.8429118990898132, -5.210083961486816, 16.659101486206055, 92.88469696044922, 3.8339438438415527, 32.19315719604492, 0 ]
2.866667
86
0
86
0
[ 0.784460186958313, -4.661016941070557, 14.623069763183594, 91.02787780761719, 3.980463981628418, 32.49790954589844 ]
[ -0.6896551847457886, -4.957983016967773, 16.659101486206055, 92.54179382324219, 3.8339438438415527, 32.19315719604492, 0 ]
2.9
87
0
87
0
[ 1.1580127477645874, -4.576271057128906, 14.623069763183594, 90.59233093261719, 3.980463981628418, 32.49790954589844 ]
[ -0.38314175605773926, -4.789916038513184, 16.659101486206055, 92.54179382324219, 3.8339438438415527, 32.19315719604492, 0 ]
2.933333
88
0
88
0
[ 1.5315651893615723, -4.576271057128906, 14.623069763183594, 90.59233093261719, 3.882783889770508, 32.49790954589844 ]
[ -0.30651339888572693, -4.789916038513184, 16.659101486206055, 91.8559799194336, 3.8339438438415527, 32.19315719604492, 0 ]
2.966667
89
0
89
0
[ 1.5315651893615723, -4.491525650024414, 14.713896751403809, 90.679443359375, 3.882783889770508, 32.49790954589844 ]
[ 0.07662834972143173, -4.789916038513184, 16.659101486206055, 91.25588989257812, 3.8339438438415527, 32.19315719604492, 0 ]
3
90
0
90
0
[ 1.5315651893615723, -4.491525650024414, 14.713896751403809, 90.59233093261719, 3.7362637519836426, 32.49790954589844 ]
[ 0.5363984704017639, -4.705882549285889, 16.659101486206055, 90.9129867553711, 3.8339438438415527, 32.19315719604492, 0 ]
3.033333
91
0
91
0
[ 1.5315651893615723, -4.491525650024414, 14.804722785949707, 90.59233093261719, 3.6874237060546875, 32.49790954589844 ]
[ 0.6130267977714539, -4.6218485832214355, 16.659101486206055, 90.9129867553711, 3.8339438438415527, 32.19315719604492, 0 ]
3.066667
92
0
92
0
[ 1.5315651893615723, -3.474576234817505, 14.804722785949707, 90.59233093261719, 3.6874237060546875, 32.49790954589844 ]
[ 0.6130267977714539, -4.537815093994141, 16.659101486206055, 90.9129867553711, 3.8339438438415527, 32.19315719604492, 0 ]
3.1
93
0
93
0
[ 1.4568547010421753, -2.03389835357666, 14.804722785949707, 90.59233093261719, 3.8339438438415527, 32.49790954589844 ]
[ 0.6130267977714539, -4.537815093994141, 16.659101486206055, 90.9129867553711, 3.8339438438415527, 32.19315719604492, 0 ]
3.133333
94
0
94
0
[ 1.4568547010421753, -1.5254237651824951, 14.804722785949707, 90.59233093261719, 3.931623935699463, 32.49790954589844 ]
[ 0.6130267977714539, -3.9495797157287598, 16.659101486206055, 90.9129867553711, 3.8339438438415527, 32.19315719604492, 0 ]
3.166667
95
0
95
0
[ 1.4568547010421753, -1.4406780004501343, 14.623069763183594, 90.59233093261719, 3.931623935699463, 32.49790954589844 ]
[ 0.6130267977714539, -2.605041980743408, 16.659101486206055, 90.82726287841797, 3.8339438438415527, 32.19315719604492, 0 ]
3.2
96
0
96
0
[ 1.4568547010421753, -1.4406780004501343, 14.623069763183594, 90.5052261352539, 3.980463981628418, 32.49790954589844 ]
[ 0.6130267977714539, -1.7647058963775635, 16.659101486206055, 90.82726287841797, 3.8339438438415527, 32.19315719604492, 0 ]
3.233333
97
0
97
0
[ 1.4568547010421753, -1.1864407062530518, 14.623069763183594, 90.06968688964844, 4.371184349060059, 32.49790954589844 ]
[ 0.6130267977714539, -1.5966386795043945, 16.659101486206055, 90.82726287841797, 3.8339438438415527, 32.19315719604492, 0 ]
3.266667
98
0
98
0
[ 1.4568547010421753, -0.6779661178588867, 14.623069763183594, 89.1986083984375, 4.566544532775879, 32.49790954589844 ]
[ 0.6130267977714539, -1.5966386795043945, 16.659101486206055, 90.82726287841797, 3.8339438438415527, 32.19315719604492, 0 ]
3.3
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Description

A short recording of teleoperating the so_sensor_arm with a modified record script. The modification limits the teleoperator action based on the robot's gripper sensor reading; if there already force on the gripper, the action is clipped at the current gripper position (based on the robot's observed state).

The force threshold was set to 20 (which corresponds to about 90 grams) but you can see that in reality the robot position overshoots, although the clipping is still apparent, as the jaw stops despite operator input continuing to close.

From this project:

https://github.com/ayerone/lerobot_robot_so_sensor_arm

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "so_sensor_arm",
    "total_episodes": 1,
    "total_frames": 906,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:1"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos",
                "sensor.force"
            ],
            "shape": [
                7
            ]
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.side": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}

Citation

BibTeX:

[More Information Needed]
Downloads last month
21
Number of rows:
906
Total file size:
44.3 MB