Datasets:

shangshang
/

robot-joint

sample_id int64 0 299	task stringclasses 4 values	joint_1 float64 -3.12 3.1	joint_2 float64 -3.14 3.06	joint_3 float64 -3.13 3.14	joint_4 float64 -3.13 3.13	joint_5 float64 -3.13 3.13	joint_6 float64 -3.13 3.12	torque_1 float64 0 1.56	torque_2 float64 0 2.38	torque_3 float64 0 1.62	torque_4 float64 0 2.41	torque_5 float64 0 1.73	torque_6 float64 0 1.97
0	reach	2.929	2.017	-1.857	-1.972	-2.352	-2.272	0.414	0.19	0.458	0.411	0.278	0.348
1	reach	0.766	-0.657	1.685	-0.47	-0.267	0.111	0.535	0.323	0.129	0.333	0.309	0.802
2	move	-0.973	-2.473	-0.051	1.687	-1.749	-1.448	0.083	1.436	0.066	0.257	0.778	0.048
3	move	0.987	1.46	-0.909	2.014	-2.861	1.605	0.093	0.194	0.519	0.095	0.061	0.343
4	place	-0.221	0.236	3.111	-0.634	0.725	-0.847	0.15	0.357	0.834	0.235	0.439	0.028
5	place	-2.934	-3.134	-2.646	1.652	0.531	-2.902	0.201	0.373	0.61	0.816	0.119	0.044
6	reach	1.79	-1.885	-2.319	1.105	0.376	1.82	0.403	0.294	1.289	0.229	0.036	0.529
7	move	-2.619	-1.298	2.374	1.664	-3.002	0.011	0.096	0.314	0.384	0.596	0.194	1.558
8	reach	1.832	-0.153	0.23	1.704	1.013	-0.57	0.677	0.053	1.622	0.038	0.005	0.662
9	place	-0.889	-2.398	3.119	1.805	-0.573	2.032	0.342	0.468	0.507	0.027	0.293	0.002
10	move	0.917	2.971	-2.791	0.465	2.281	-0.117	0.025	0.247	0.121	0.051	0.567	0.221
11	reach	1.04	3.005	1.435	0.903	-1.036	-2.925	0.102	0.439	0.069	0.374	0.26	0.057
12	move	-2.583	-2.776	-0.803	1.386	0.344	-0.485	0.25	0.136	0.825	0.017	0.336	0.666
13	move	-2.008	0.33	-1.788	-1.883	3.082	1.896	0.414	0.474	1.041	0.255	0.075	0.595
14	reach	-2.996	-0.798	-2.207	0.367	2.622	-0.682	0.559	0	0.055	0.009	0.119	0.716
15	grasp	1.597	-0.179	-2.2	-1.483	2.814	-0.835	0.715	0.109	0.235	0.006	0.221	0.304
16	place	-2.564	-0.345	3.138	2.106	2.472	2.031	0.033	0.077	0.001	0.109	0.034	0.192
17	reach	-2.622	2.036	1.113	-1.892	-2.641	2.118	0.025	0.029	0.167	0.043	0.735	0.191
18	reach	0.078	1.085	-0.709	-1.563	-2.097	-0.946	0.406	0.424	0.33	0.08	0.266	0.254
19	grasp	2.246	-3.14	-0.864	1.493	0.627	-2.026	0.109	0.123	0.252	0.534	0.809	0.416
20	place	-1.971	-0.092	2.075	2.831	0.844	-0.918	0.277	0.112	0.722	0.613	0.245	0.118
21	grasp	1.102	-1.108	-2.641	0.524	2.814	-0.094	0.71	0.541	0.048	0.369	0.172	0.086
22	place	-0.794	-1.05	-2.035	0.674	-0.147	2.298	0.01	0.31	0.432	0.427	0.652	0.392
23	move	-0.063	-2.939	0.783	-0.523	0.378	-0.444	1.015	0.278	0.415	0.826	0.269	0.004
24	place	-2.186	2.59	2.468	0.967	1.082	-3.108	1.257	0.631	0.676	0.323	0.127	0.672
25	reach	1.696	2.304	0.121	3.099	-3.069	-1.259	0.293	0.19	0.037	0.138	0.008	0.309
26	reach	1.947	-0.25	2.537	-0.566	0.157	-0.144	0.178	0.448	0.224	0.114	0.09	0.012
27	reach	0.682	1.274	-0.297	-1.613	2.371	1.526	0.69	0.512	1.393	0.064	0.027	0.123
28	place	-1.419	-1.868	-0.363	-2.784	3.006	0.556	0.244	0.32	0.206	0.01	0.284	0.378
29	grasp	-2.745	-2.464	0.944	-1.178	-0.955	-0.083	1.153	1.01	0.161	0.093	0.108	0.094
30	grasp	2.966	0.739	3.025	-1.019	1.276	-1.743	0.091	0.215	0.116	0.055	0.092	0.011
31	place	-2.989	0.786	-1.555	1.062	1.552	2.613	0.952	0.003	1.393	0.345	0.309	0.005
32	place	2.018	-0.044	2.179	0.633	1.142	3.101	0.079	0.293	0.185	0.012	0.004	0.038
33	move	1.122	-2.732	-1.21	-1.332	2.608	2.311	0.139	0.022	0.674	0.657	0.579	0.559
34	reach	2.442	-1.632	-1.381	-2.808	1.857	-0.521	0.078	0.079	0.695	0.539	0.242	0.287
35	move	-0.556	0.118	-2.93	1.096	-0.599	-0.343	0.621	0.186	0.006	0.077	0.194	0.166
36	place	-2.734	1.65	-0.456	0.796	1.43	1.127	0.191	0.147	0.141	0.307	0.205	0.567
37	move	-3.057	-0.485	-1.963	-3.006	0.126	1.131	0.027	0.185	0.408	1.276	0.33	0.084
38	grasp	0.134	-2.06	-1.223	-1.122	-2.139	-1.852	0.466	0.055	0.009	0.298	1.119	0.121
39	move	2.496	2.456	2.994	1.258	0.014	-2.097	0.367	0.103	0.1	0.082	0.624	0.607
40	reach	0.287	1.299	1.825	-1.924	-1.497	0.079	0.12	0.591	0.193	0.482	0.261	0.445
41	grasp	-0.508	-3.035	-0.848	-1.422	0.038	-1.028	0.389	0.214	0.042	0.416	0.031	0.548
42	grasp	1.251	-1.553	-2.887	-0.61	2.735	-3.068	0.266	0.209	0.62	0.026	0.343	0.342
43	reach	1.341	2.678	-2.586	2.855	2.647	-2.802	0.134	0.503	0.284	0.453	0.381	0.206
44	move	-0.124	0.777	2.075	-0.877	-0.437	-0.569	0.141	0.779	0.53	0.035	0.034	0.168
45	place	2.862	1.054	-2.769	0.99	2.407	0.484	0.131	0.516	0.458	0.236	0.05	0.087
46	place	2.584	2.015	-2.338	3.128	-1.517	1.409	0.716	0.081	0.717	0.111	1.124	0.099
47	reach	-1.93	-0.695	2.767	-0.458	0.344	-2.637	0.468	0.165	0.484	0.088	0.165	0.463
48	move	-1.619	-0.54	-1.679	-0.054	2.34	1.332	0.26	0.028	0.355	0.055	0.463	0.086
49	grasp	1.763	-1.339	-0.613	1.505	2.944	-0.28	0.531	1.107	0.62	0.077	0.002	0.203
50	move	0.492	1.189	-2.47	2.018	-0.405	-2.687	0.463	0.142	0.032	0.301	0.636	0.656
51	place	1.743	-0.735	-1.066	-0.326	-0.967	-1.016	0.495	0.04	1.058	0.243	0.061	0.042
52	place	-0.041	-2.021	0.082	1.973	1.74	1.813	0.369	0.088	0.594	0.672	0.065	0.042
53	reach	-1.197	0.434	-1.596	-0.018	1.944	-0.185	0.893	0.564	0.122	0.153	0.165	0.295
54	move	-2.062	-1.39	-2.143	-1.912	2.972	-2.18	0.094	0.268	0.283	0.05	0.474	0.461
55	reach	-2.687	-1.286	-1.926	0.338	-0.736	-2.153	0.309	0.231	0.096	0.196	0.411	0.069
56	grasp	2.139	-1.108	2.128	-2.491	2.122	-2.182	0.026	0.308	0.192	0.715	0.135	0.102
57	place	-0.421	-2.236	2.028	2.708	0.776	-0.982	0.05	0.092	0.088	0.285	0.87	0.015
58	grasp	1.438	2.843	2.105	2.532	1.976	-0.257	0.087	0.139	0.006	0.223	0.211	0.223
59	reach	-3.036	0.127	1.232	2.778	-2.016	-2.493	0.016	0.172	0.293	0.551	0.344	0.07
60	grasp	-0.406	-1.29	-2.827	-0.08	-0.908	-1.561	0.356	0.44	0.084	0.015	0.567	0.003
61	grasp	1.976	0.211	-2.255	-2.981	1.864	0.629	0.372	0.109	0.214	0.413	0.186	0.276
62	grasp	-2.908	-2.976	1.502	-1.143	1.862	-0.429	0.181	0.216	0.375	0.096	0.039	0.244
63	place	1.247	1.761	-1.067	-1.117	0.363	2.27	0.076	0.85	0.274	1.453	0.028	0.041
64	grasp	1.66	0.519	-2.695	2.464	-2.948	1.561	0.427	0.918	0.017	0.273	0.168	0.12
65	place	2.888	0.579	2.008	2.044	-2.724	-2.068	0.112	0.116	0.323	0.293	0.205	0.071
66	place	-0.406	-0.616	0.476	0.524	1.571	0.062	0.033	0.586	0.111	1.065	0.038	0.953
67	grasp	2.771	0.133	3.124	0.156	0.276	-0.68	0.111	0.087	0.126	0.185	0.064	0.076
68	move	2.519	2.994	2.525	-2.341	2.034	-0.567	1.407	0.192	0.242	0.226	0.116	0.023
69	grasp	-1.728	2.374	-0.114	0.396	0.589	0.877	0.205	0.005	0.122	0.061	0.342	0.018
70	move	-1.925	-1.832	1.014	2.584	-0.605	-1.836	0.314	0.615	0.414	0.609	0.231	0.418
71	place	2.705	0.591	1.891	-0.646	-1.808	2.584	0.812	0.206	0.002	0.035	0.255	0.007
72	place	0.965	2.125	0.158	-1.833	0.155	0.346	0.407	0.074	0.138	0.136	0.961	0.176
73	place	1.365	1.663	-2.087	-0.506	-0.094	-1.531	0.226	0.103	0.349	0.191	0.184	1.234
74	place	2.744	2.054	2.164	0.434	-0.739	2.73	0.17	0.232	0.177	0.25	0.191	0.015
75	reach	0.078	1.333	-0.486	0.952	-1.514	-2.703	0.16	0.186	0.089	0.39	0.023	0.076
76	move	1.708	2.356	0.717	-1.959	-1.349	-0.151	0.926	0.085	0.395	0.174	0.106	0.183
77	reach	2.179	-1.203	3.091	-2.899	-2.336	-1.73	0.5	0.632	0.022	0.01	0.409	0.043
78	move	-1.983	-0.358	-2.1	3.029	-2.537	0.561	0.295	0.232	0.326	0.037	0.243	0.102
79	grasp	-2.285	2.5	-1.617	-0.923	2.829	0.493	0.137	0.896	0.12	0.03	1.728	0.094
80	move	-0.662	-0.801	-0.278	-2.029	0.842	-0.854	0.574	0.424	0.283	0.136	0.071	0.449
81	place	-2.23	-0.05	-0.666	0.699	-2.862	1.584	0.025	0.321	0.006	0.535	0.058	0.217
82	move	-0.462	0.667	0.363	0.951	-2.174	0.921	0.061	0.417	0.124	0.371	0.015	0.157
83	move	1.506	-1.557	-1.505	0.916	-2.403	2.817	0.076	2.375	0.205	0.443	0.001	0.659
84	move	-3.105	-1.251	1.564	1.848	-1.869	2.884	0.209	0.747	0.368	0.385	0.027	0.075
85	move	2.497	2.279	0.057	-0.419	-0.774	1.302	0.334	0.066	0.334	0.087	0.006	0.36
86	grasp	-0.935	2.119	-2.722	2.779	3.056	-2.585	0.103	0.14	0.449	0.272	0.31	0.425
87	place	-1.532	-1.542	2.82	0.851	-2.162	1.396	0.384	0.329	0.043	0.157	0.034	0.509
88	grasp	0.039	-2.981	2.669	2.211	0.152	-1.703	0.039	0.135	0.088	0.212	1.018	0.257
89	grasp	-0.64	1.709	-2.9	-0.618	1.879	0.143	0.24	0.031	0.043	0.339	0.337	1.16
90	place	0.006	-0.786	0.791	1.845	-1.379	0.357	0.37	0.043	0.505	0.28	0.896	0.124
91	reach	1.086	-0.424	1.99	-1.908	-1.853	0.916	0.561	0.192	0.389	2.192	1.39	0.409
92	reach	-1.231	-0.316	0.275	-2.512	2.715	-0.788	0.025	0.147	0.275	0.216	0.356	0.017
93	move	-1.669	1.455	-1.527	-2.041	1.198	2.154	0.197	0.227	0.108	0.205	0.042	0.936
94	place	0.09	0.558	1.821	0.982	0.683	-0.554	0.193	0.161	0.554	0.078	0.002	0.316
95	move	-1.295	-1.546	0.754	0.224	-2.763	-2.63	0.309	0.188	1.062	0.34	0.003	0.197
96	move	-1.792	2.102	-0.501	0.484	2.343	2.285	0.139	0.07	0.448	0.17	0.064	0.704
97	move	2.251	-0.121	-3.123	-1.616	-1.107	2.928	0.728	0.894	0.524	0.13	0.709	1.2
98	place	-2.064	1.706	-1.738	-2.634	2.356	2.254	0.155	0.364	0.244	0.575	0.114	0.222
99	move	2.495	2.678	-0.761	-2.051	2.594	-2.56	0.384	0.045	0.148	0.159	0.052	0.768

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ACCESS REQUIREMENT - FOLLOW TO DOWNLOAD

This dataset requires following the author to access.

How to Access

Follow @shangshang on HuggingFace: https://huggingface.co/shangshang
Request access by commenting on the dataset page
Once approved, you will receive download permissions

Usage Agreement

For research and educational purposes only
Do not redistribute without permission
Cite the dataset in your work:

@misc{shangshang_dataset_2026,
  title={Embodied AI and Medical Datasets},
  year={2026},
  url={https://huggingface.co/datasets/shangshang}
}

Embodied AI Dataset Collection

A comprehensive dataset for Vision-Language-Action (VLA) model training and embodied AI research.

Datasets Included

Dataset	Samples	Description
robot_trajectory.csv	1000	Robot arm trajectories for various manipulation tasks
joint_configurations.csv	800	6-DOF joint angle configurations
end_effector_poses.csv	600	End-effector pose sequences
force_tactile.csv	500	Force/tactile sensor feedback
language_instructions.csv	1000	Natural language task instructions
vla_combined_dataset.csv	500	Combined VLA training data

Task Categories

pick_place: Pick up object and place at target
push_pull: Push/pull objects
stacking: Stack objects
insertion: Insert objects into targets
turning: Turn knobs/dials

Robot Types

Franka Emika (7-DOF)
UR5e (6-DOF)
WidowX 250 (7-DOF)
xArm6 (6-DOF)

Usage Example

import pandas as pd
from huggingface_hub import hf_hub_download

# Download
file_path = hf_hub_download(
    repo_id="shangshang/embodied-ai-dataset",
    filename="vla_combined_dataset.csv"
)

# Load
df = pd.read_csv(file_path)
print(df.head())

License

MIT License

Citation

If you use this dataset in your research, please cite:

@misc{embodied_ai_dataset_2026, title={Embodied AI VLA Dataset}, year={2026}, url={https://huggingface.co/datasets/shangshang/embodied-ai-dataset} }

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