UnifoLM_WBT_Dataset
Collection
11 items • Updated • 84
Search is not available for this dataset
observation.state.ee_state list | observation.state.hand_state list | observation.state.robot_q_current list | action.ee_action list | action.hand_cmd list | action.robot_q_desired list | timestamp float32 0 124 | frame_index int64 0 3.73k | episode_index int64 0 299 | index int64 0 427k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|
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-0.07966095954179764,
-0.16872423887252808,
0.07223685830831528,
0.10283637046813965,
0.17016960680484772,
0.0009973280830308795,
-0.040871504694223404,
0.243320047... | [
-0.0014652963727712631,
0.2760651409626007,
-0.1218423992395401,
0.8019979596138,
0.9998841881752014,
1.484561562538147,
0.4506511092185974,
-0.15977732837200165,
0.18016596138477325,
-0.22868722677230835,
-0.008991223759949207,
0.04233307018876076
] | [
0,
0.800000011920929,
0,
0,
0,
0,
0,
0.800000011920929,
0,
0,
0,
0
] | [
0.2006765902042389,
-0.09787337481975555,
0.7730823159217834,
0.9907718300819397,
-0.007089260034263134,
-0.04607666656374931,
-0.1272708922624588,
-0.2303040623664856,
0.06880538910627365,
0.11608241498470306,
0.1615213304758072,
0.11661231517791748,
-0.054063234478235245,
0.3409688174724... | 2.7 | 81 | 0 | 81 | 0 |
End of preview. Expand in Data Studio
Data Structure
Observations
observation.state.ee_state (12)
End-effector states of the robot.
- Computed via forward kinematics (FK) from the root link to the left and right end-effectors.
- Includes the contribution of the waist.
- Represented as concatenated poses of both end-effectors.
observation.state.hand_state (12 or 2)
Finger states for both hands. The dimensionality depends on the hand type.
Inspire Hand (range: 0.0 – 1.0, open → close)
Per hand:
- Index finger
- Middle finger
- Ring finger
- Little finger
- Thumb (open/close)
- Thumb (lateral tilt)
BrainCo Hand (range: 0.0 – 1.0, open → close)
Per hand:
- Thumb (open/close)
- Thumb (lateral tilt)
- Index finger
- Middle finger
- Ring finger
- Little finger
Dex1 Hand (range: 5.5 – 0.0, open → close)
Per hand:
- Open/close
observation.state.robot_q_current (36)
Current robot configuration.
- First 7 values:
- Root position: (x, y, z)
- Root orientation: quaternion (w, x, y, z)
- Remaining 29 values:
- Robot joint positions.
Actions
action.ee_action (12)
Target end-effector states.
- Defined using forward kinematics (FK) from the root link to both end-effectors.
- Includes waist motion.
action.hand_cmd (12 or 2)
Commanded finger actions. The dimensionality depends on the hand type.
Inspire Hand (range: 0.0 – 1.0, open → close)
Per hand:
- Index finger
- Middle finger
- Ring finger
- Little finger
- Thumb (open/close)
- Thumb (lateral tilt)
BrainCo Hand (range: 0.0 – 1.0, open → close)
Per hand:
- Thumb (open/close)
- Thumb (lateral tilt)
- Index finger
- Middle finger
- Ring finger
- Little finger
Dex1 Hand (range: 5.5 – 0.0, open → close)
Per hand:
- Open/close
action.robot_q_desired (36)
Desired robot configuration.
- First 7 values:
- Target root position: (x, y, z)
- Target root orientation: quaternion (w, x, y, z)
- Remaining 29 values:
- Target joint positions.
Acknowledgements
This dataset was created using the LeRobot framework.
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