111 episodes · 30 fps · 6 cameras · 640×480 h264
This dataset was created using LeRobot.
Dataset Structure
{
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"robot_type": "tianji_arm_wuji",
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"total_frames": 141718,
"total_tasks": 1,
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"splits": {
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"features": {
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"left_tcp.y",
"left_tcp.z",
"left_tcp.r1",
"left_tcp.r2",
"left_tcp.r3",
"left_tcp.r4",
"left_tcp.r5",
"left_tcp.r6",
"right_tcp.x",
"right_tcp.y",
"right_tcp.z",
"right_tcp.r1",
"right_tcp.r2",
"right_tcp.r3",
"right_tcp.r4",
"right_tcp.r5",
"right_tcp.r6",
"l_index_finger_mcp_flex.pos",
"l_index_finger_mcp_abd.pos",
"l_index_finger_pip.pos",
"l_index_finger_dip.pos",
"l_middle_finger_mcp_flex.pos",
"l_middle_finger_mcp_abd.pos",
"l_middle_finger_pip.pos",
"l_middle_finger_dip.pos",
"l_pinky_mcp_flex.pos",
"l_pinky_mcp_abd.pos",
"l_pinky_pip.pos",
"l_pinky_dip.pos",
"l_ring_finger_mcp_flex.pos",
"l_ring_finger_mcp_abd.pos",
"l_ring_finger_pip.pos",
"l_ring_finger_dip.pos",
"l_thumb_cmc_flex.pos",
"l_thumb_cmc_abd.pos",
"l_thumb_mcp.pos",
"l_thumb_ip.pos",
"r_index_finger_mcp_flex.pos",
"r_index_finger_mcp_abd.pos",
"r_index_finger_pip.pos",
"r_index_finger_dip.pos",
"r_middle_finger_mcp_flex.pos",
"r_middle_finger_mcp_abd.pos",
"r_middle_finger_pip.pos",
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"r_pinky_mcp_flex.pos",
"r_pinky_mcp_abd.pos",
"r_pinky_pip.pos",
"r_pinky_dip.pos",
"r_ring_finger_mcp_flex.pos",
"r_ring_finger_mcp_abd.pos",
"r_ring_finger_pip.pos",
"r_ring_finger_dip.pos",
"r_thumb_cmc_flex.pos",
"r_thumb_cmc_abd.pos",
"r_thumb_mcp.pos",
"r_thumb_ip.pos"
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"left_tcp.y",
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"left_tcp.r1",
"left_tcp.r2",
"left_tcp.r3",
"left_tcp.r4",
"left_tcp.r5",
"left_tcp.r6",
"right_tcp.x",
"right_tcp.y",
"right_tcp.z",
"right_tcp.r1",
"right_tcp.r2",
"right_tcp.r3",
"right_tcp.r4",
"right_tcp.r5",
"right_tcp.r6",
"l_index_finger_mcp_flex.pos",
"l_index_finger_mcp_abd.pos",
"l_index_finger_pip.pos",
"l_index_finger_dip.pos",
"l_middle_finger_mcp_flex.pos",
"l_middle_finger_mcp_abd.pos",
"l_middle_finger_pip.pos",
"l_middle_finger_dip.pos",
"l_pinky_mcp_flex.pos",
"l_pinky_mcp_abd.pos",
"l_pinky_pip.pos",
"l_pinky_dip.pos",
"l_ring_finger_mcp_flex.pos",
"l_ring_finger_mcp_abd.pos",
"l_ring_finger_pip.pos",
"l_ring_finger_dip.pos",
"l_thumb_cmc_flex.pos",
"l_thumb_cmc_abd.pos",
"l_thumb_mcp.pos",
"l_thumb_ip.pos",
"r_index_finger_mcp_flex.pos",
"r_index_finger_mcp_abd.pos",
"r_index_finger_pip.pos",
"r_index_finger_dip.pos",
"r_middle_finger_mcp_flex.pos",
"r_middle_finger_mcp_abd.pos",
"r_middle_finger_pip.pos",
"r_middle_finger_dip.pos",
"r_pinky_mcp_flex.pos",
"r_pinky_mcp_abd.pos",
"r_pinky_pip.pos",
"r_pinky_dip.pos",
"r_ring_finger_mcp_flex.pos",
"r_ring_finger_mcp_abd.pos",
"r_ring_finger_pip.pos",
"r_ring_finger_dip.pos",
"r_thumb_cmc_flex.pos",
"r_thumb_cmc_abd.pos",
"r_thumb_mcp.pos",
"r_thumb_ip.pos",
"left_joint_1.pos",
"left_joint_2.pos",
"left_joint_3.pos",
"left_joint_4.pos",
"left_joint_5.pos",
"left_joint_6.pos",
"left_joint_7.pos",
"left_joint_1.vel",
"left_joint_2.vel",
"left_joint_3.vel",
"left_joint_4.vel",
"left_joint_5.vel",
"left_joint_6.vel",
"left_joint_7.vel",
"right_joint_1.pos",
"right_joint_2.pos",
"right_joint_3.pos",
"right_joint_4.pos",
"right_joint_5.pos",
"right_joint_6.pos",
"right_joint_7.pos",
"right_joint_1.vel",
"right_joint_2.vel",
"right_joint_3.vel",
"right_joint_4.vel",
"right_joint_5.vel",
"right_joint_6.vel",
"right_joint_7.vel"
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"shape": [
86
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"observation.images.head": {
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"video.pix_fmt": "yuv420p",
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"video.g": 2,
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}
Citation
BibTeX:
@misc{vertax2026lerobotxense,
author = {vertax42 and Xense Robotics Team},
title = {LeRobot-Xense: LeRobot with Xense Tactile Robotics Support},
howpublished = {\url{https://github.com/Vertax42/lerobot-xense}},
year = {2026}
}
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