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typoverflow
/
vifailback

Tasks:
Robotics
Modalities:
Tabular
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Formats:
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Tags:
LeRobot
vifailback
aloha
piper
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README.md CHANGED
@@ -119,7 +119,7 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
119
  "has_audio": false
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  }
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  },
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- "state.left_joint_pos": {
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  "dtype": "float32",
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  "shape": [
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  6
@@ -133,7 +133,21 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
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  "joint_5"
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  ]
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  },
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- "state.left_eef_xyz": {
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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  "dtype": "float32",
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  "shape": [
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  3
@@ -144,21 +158,79 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
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  "z"
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  ]
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  },
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- "state.left_eef_rot6d": {
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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  "dtype": "float32",
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  "names": [
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- "rot1",
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- "rot5",
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- "rot6"
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  ]
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  },
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  "dtype": "float32",
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  "shape": [
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  1
@@ -167,7 +239,7 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
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  "gripper"
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  ]
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  },
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- "state.right_joint_pos": {
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  "dtype": "float32",
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  "shape": [
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  6
@@ -181,7 +253,7 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
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  "joint_5"
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  ]
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  },
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- "state.right_eef_xyz": {
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  "dtype": "float32",
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  3
@@ -192,21 +264,65 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
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  "z"
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  ]
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  },
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- "state.right_eef_rot6d": {
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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  "dtype": "float32",
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210
  "dtype": "float32",
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  "shape": [
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  1
@@ -215,29 +331,31 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
215
  "gripper"
216
  ]
217
  },
218
- "state.joint_vel": {
 
 
 
 
 
 
 
 
 
 
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  "dtype": "float32",
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- "left_joint_0",
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- "left_joint_5",
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- "left_gripper",
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- "right_joint_0",
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- "right_joint_1",
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- "right_joint_2",
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- "right_joint_3",
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- "right_joint_4",
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- "right_joint_5",
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- "right_gripper"
238
  ]
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  },
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  "dtype": "float32",
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  "shape": [
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  6
@@ -251,7 +369,7 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
251
  "joint_5"
252
  ]
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  },
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- "action.left_eef_xyz": {
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  "dtype": "float32",
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  "shape": [
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  3
@@ -262,21 +380,89 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
262
  "z"
263
  ]
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  },
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- "action.left_eef_rot6d": {
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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  "dtype": "float32",
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280
  "dtype": "float32",
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  "shape": [
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  1
@@ -285,7 +471,7 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
285
  "gripper"
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  ]
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  },
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- "action.right_joint_pos": {
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  "dtype": "float32",
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  "shape": [
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  6
@@ -299,7 +485,7 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
299
  "joint_5"
300
  ]
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  },
302
- "action.right_eef_xyz": {
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  "dtype": "float32",
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  "shape": [
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  3
@@ -310,21 +496,75 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
310
  "z"
311
  ]
312
  },
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- "action.right_eef_rot6d": {
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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  1
@@ -333,7 +573,7 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
333
  "gripper"
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  ]
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  },
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  "dtype": "float32",
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  2
@@ -360,12 +600,12 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
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@@ -385,12 +625,12 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
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  6
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- "rot1",
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- "rot2",
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  ]
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  "timestamp": {
 
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  "has_audio": false
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351
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356
  ]
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420
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  ]
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466
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  "shape": [
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  ]
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  },
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475
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  "shape": [
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486
  ]
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  },
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489
  "dtype": "float32",
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509
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510
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+ "r32",
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+ ]
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+ },
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517
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+ ]
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+ },
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526
  "dtype": "float32",
527
  "shape": [
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529
  ],
530
  "names": [
531
+ "joint_0",
532
+ "joint_1",
533
+ "joint_2",
534
+ "joint_3",
535
+ "joint_4",
536
+ "joint_5"
537
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560
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561
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562
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563
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565
  ]
566
  },
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+ "target.right_gripper_state": {
568
  "dtype": "float32",
569
  "shape": [
570
  1
 
573
  "gripper"
574
  ]
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  },
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577
  "dtype": "float32",
578
  "shape": [
579
  2
 
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  6
601
  ],
602
  "names": [
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604
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605
+ "r31",
606
+ "r12",
607
+ "r22",
608
+ "r32"
609
  ]
610
  },
611
  "debug.right_gripper_eef_xyz": {
 
625
  6
626
  ],
627
  "names": [
628
+ "r11",
629
+ "r21",
630
+ "r31",
631
+ "r12",
632
+ "r22",
633
+ "r32"
634
  ]
635
  },
636
  "timestamp": {