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Datasets:
zima-robot
/
stack_v3

Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
robotics
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
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rtbhowmik commited on
Commit
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mirror corpus from the cluster

Browse files
Files changed (7) hide show
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  6. videos/observation.images.image/chunk-000/file-000.mp4 +3 -0
  7. videos/observation.images.wrist_image/chunk-000/file-000.mp4 +3 -0
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+ "video.width": 256,
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+ "video.codec": "av1",
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+ "video.pix_fmt": "yuv420p",
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+ "video.fps": 20,
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+ "video.video_backend": "pyav",
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+ }
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+ "observation.state": {
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+ ],
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+ "names": [
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+ "ee_position_x",
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+ "ee_position_y",
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+ "ee_position_z",
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+ "ee_axis_angle_x",
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+ "ee_axis_angle_y",
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+ "ee_axis_angle_z",
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+ "gripper_left_qpos",
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+ "gripper_right_qpos"
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+ ]
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+ },
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+ "observation.environment_state": {
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+ "dtype": "float64",
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+ "shape": [
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+ 314
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+ ],
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+ "names": [
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+ "simulation_time_seconds",
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+ "qpos_robot0_joint1_angle",
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+ "qpos_robot0_joint2_angle",
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+ "qpos_robot0_joint3_angle",
89
+ "qpos_robot0_joint4_angle",
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+ "qpos_robot0_joint5_angle",
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+ "qpos_robot0_joint6_angle",
92
+ "qpos_robot0_joint7_angle",
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+ "qpos_gripper0_right_finger_joint1_position",
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+ "qpos_gripper0_right_finger_joint2_position",
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+ "qpos_red_cube_joint0_position_x",
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+ "qpos_red_cube_joint0_position_y",
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+ "qpos_red_cube_joint0_position_z",
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+ "qpos_red_cube_joint0_quaternion_w",
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+ "qpos_red_cube_joint0_quaternion_x",
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+ "qpos_red_cube_joint0_quaternion_y",
101
+ "qpos_red_cube_joint0_quaternion_z",
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+ "qpos_blue_cube_joint0_position_x",
103
+ "qpos_blue_cube_joint0_position_y",
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+ "qpos_blue_cube_joint0_position_z",
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+ "qpos_blue_cube_joint0_quaternion_w",
106
+ "qpos_blue_cube_joint0_quaternion_x",
107
+ "qpos_blue_cube_joint0_quaternion_y",
108
+ "qpos_blue_cube_joint0_quaternion_z",
109
+ "qpos_green_cube_joint0_position_x",
110
+ "qpos_green_cube_joint0_position_y",
111
+ "qpos_green_cube_joint0_position_z",
112
+ "qpos_green_cube_joint0_quaternion_w",
113
+ "qpos_green_cube_joint0_quaternion_x",
114
+ "qpos_green_cube_joint0_quaternion_y",
115
+ "qpos_green_cube_joint0_quaternion_z",
116
+ "qvel_robot0_joint1_angular_velocity",
117
+ "qvel_robot0_joint2_angular_velocity",
118
+ "qvel_robot0_joint3_angular_velocity",
119
+ "qvel_robot0_joint4_angular_velocity",
120
+ "qvel_robot0_joint5_angular_velocity",
121
+ "qvel_robot0_joint6_angular_velocity",
122
+ "qvel_robot0_joint7_angular_velocity",
123
+ "qvel_gripper0_right_finger_joint1_linear_velocity",
124
+ "qvel_gripper0_right_finger_joint2_linear_velocity",
125
+ "qvel_red_cube_joint0_linear_velocity_x",
126
+ "qvel_red_cube_joint0_linear_velocity_y",
127
+ "qvel_red_cube_joint0_linear_velocity_z",
128
+ "qvel_red_cube_joint0_angular_velocity_x",
129
+ "qvel_red_cube_joint0_angular_velocity_y",
130
+ "qvel_red_cube_joint0_angular_velocity_z",
131
+ "qvel_blue_cube_joint0_linear_velocity_x",
132
+ "qvel_blue_cube_joint0_linear_velocity_y",
133
+ "qvel_blue_cube_joint0_linear_velocity_z",
134
+ "qvel_blue_cube_joint0_angular_velocity_x",
135
+ "qvel_blue_cube_joint0_angular_velocity_y",
136
+ "qvel_blue_cube_joint0_angular_velocity_z",
137
+ "qvel_green_cube_joint0_linear_velocity_x",
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+ "qvel_green_cube_joint0_linear_velocity_y",
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+ "qvel_green_cube_joint0_linear_velocity_z",
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+ "qvel_green_cube_joint0_angular_velocity_x",
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+ "qvel_green_cube_joint0_angular_velocity_y",
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+ "qvel_green_cube_joint0_angular_velocity_z",
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+ "qacc_warmstart_robot0_joint1_angular_velocity",
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+ "qacc_warmstart_robot0_joint2_angular_velocity",
145
+ "qacc_warmstart_robot0_joint3_angular_velocity",
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+ "qacc_warmstart_robot0_joint4_angular_velocity",
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+ "qacc_warmstart_robot0_joint5_angular_velocity",
148
+ "qacc_warmstart_robot0_joint6_angular_velocity",
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+ "qacc_warmstart_robot0_joint7_angular_velocity",
150
+ "qacc_warmstart_gripper0_right_finger_joint1_linear_velocity",
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+ "qacc_warmstart_gripper0_right_finger_joint2_linear_velocity",
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+ "qacc_warmstart_red_cube_joint0_linear_velocity_y",
154
+ "qacc_warmstart_red_cube_joint0_linear_velocity_z",
155
+ "qacc_warmstart_red_cube_joint0_angular_velocity_x",
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+ "qacc_warmstart_red_cube_joint0_angular_velocity_y",
157
+ "qacc_warmstart_red_cube_joint0_angular_velocity_z",
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+ "qacc_warmstart_blue_cube_joint0_linear_velocity_x",
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+ "qacc_warmstart_blue_cube_joint0_linear_velocity_y",
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+ "qacc_warmstart_blue_cube_joint0_linear_velocity_z",
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+ "qacc_warmstart_blue_cube_joint0_angular_velocity_x",
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+ "qacc_warmstart_blue_cube_joint0_angular_velocity_y",
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+ "qacc_warmstart_blue_cube_joint0_angular_velocity_z",
164
+ "qacc_warmstart_green_cube_joint0_linear_velocity_x",
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+ "qacc_warmstart_green_cube_joint0_linear_velocity_y",
166
+ "qacc_warmstart_green_cube_joint0_linear_velocity_z",
167
+ "qacc_warmstart_green_cube_joint0_angular_velocity_x",
168
+ "qacc_warmstart_green_cube_joint0_angular_velocity_y",
169
+ "qacc_warmstart_green_cube_joint0_angular_velocity_z",
170
+ "control_robot0_torq_j1",
171
+ "control_robot0_torq_j2",
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+ "control_robot0_torq_j3",
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+ "control_robot0_torq_j4",
174
+ "control_robot0_torq_j5",
175
+ "control_robot0_torq_j6",
176
+ "control_robot0_torq_j7",
177
+ "control_gripper0_right_gripper_finger_joint1",
178
+ "control_gripper0_right_gripper_finger_joint2",
179
+ "qfrc_applied_robot0_joint1_angular_velocity",
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+ "qfrc_applied_robot0_joint2_angular_velocity",
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+ "qfrc_applied_robot0_joint3_angular_velocity",
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+ "qfrc_applied_robot0_joint4_angular_velocity",
183
+ "qfrc_applied_robot0_joint5_angular_velocity",
184
+ "qfrc_applied_robot0_joint6_angular_velocity",
185
+ "qfrc_applied_robot0_joint7_angular_velocity",
186
+ "qfrc_applied_gripper0_right_finger_joint1_linear_velocity",
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+ "qfrc_applied_gripper0_right_finger_joint2_linear_velocity",
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+ "qfrc_applied_red_cube_joint0_linear_velocity_x",
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+ "qfrc_applied_red_cube_joint0_linear_velocity_y",
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+ "qfrc_applied_red_cube_joint0_angular_velocity_y",
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+ "qfrc_applied_blue_cube_joint0_angular_velocity_x",
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+ "qfrc_applied_blue_cube_joint0_angular_velocity_y",
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+ "qfrc_applied_blue_cube_joint0_angular_velocity_z",
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+ "qfrc_applied_green_cube_joint0_linear_velocity_x",
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+ "qfrc_applied_green_cube_joint0_linear_velocity_y",
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+ "qfrc_applied_green_cube_joint0_linear_velocity_z",
203
+ "qfrc_applied_green_cube_joint0_angular_velocity_x",
204
+ "qfrc_applied_green_cube_joint0_angular_velocity_y",
205
+ "qfrc_applied_green_cube_joint0_angular_velocity_z",
206
+ "xfrc_applied_world_force_x",
207
+ "xfrc_applied_world_force_y",
208
+ "xfrc_applied_world_force_z",
209
+ "xfrc_applied_world_torque_x",
210
+ "xfrc_applied_world_torque_y",
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+ "xfrc_applied_world_torque_z",
212
+ "xfrc_applied_table_force_x",
213
+ "xfrc_applied_table_force_y",
214
+ "xfrc_applied_table_force_z",
215
+ "xfrc_applied_table_torque_x",
216
+ "xfrc_applied_table_torque_y",
217
+ "xfrc_applied_table_torque_z",
218
+ "xfrc_applied_left_eef_target_force_x",
219
+ "xfrc_applied_left_eef_target_force_y",
220
+ "xfrc_applied_left_eef_target_force_z",
221
+ "xfrc_applied_left_eef_target_torque_x",
222
+ "xfrc_applied_left_eef_target_torque_y",
223
+ "xfrc_applied_left_eef_target_torque_z",
224
+ "xfrc_applied_right_eef_target_force_x",
225
+ "xfrc_applied_right_eef_target_force_y",
226
+ "xfrc_applied_right_eef_target_force_z",
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+ "xfrc_applied_right_eef_target_torque_x",
228
+ "xfrc_applied_right_eef_target_torque_y",
229
+ "xfrc_applied_right_eef_target_torque_z",
230
+ "xfrc_applied_robot0_base_force_x",
231
+ "xfrc_applied_robot0_base_force_y",
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+ "xfrc_applied_robot0_base_force_z",
233
+ "xfrc_applied_robot0_base_torque_x",
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+ "xfrc_applied_robot0_base_torque_y",
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+ "xfrc_applied_robot0_base_torque_z",
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+ "xfrc_applied_robot0_link0_force_x",
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+ "xfrc_applied_robot0_link0_force_y",
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+ "xfrc_applied_robot0_link0_force_z",
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+ "xfrc_applied_robot0_link0_torque_x",
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+ "xfrc_applied_robot0_link0_torque_y",
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+ "xfrc_applied_robot0_link0_torque_z",
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+ "xfrc_applied_robot0_link1_force_x",
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+ "xfrc_applied_robot0_link1_force_y",
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+ "xfrc_applied_robot0_link1_force_z",
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+ "xfrc_applied_robot0_link1_torque_x",
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+ "xfrc_applied_robot0_link1_torque_y",
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+ "xfrc_applied_robot0_link1_torque_z",
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+ "xfrc_applied_robot0_link2_force_x",
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+ "xfrc_applied_robot0_link2_force_y",
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+ "xfrc_applied_robot0_link2_force_z",
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+ "xfrc_applied_robot0_link2_torque_x",
252
+ "xfrc_applied_robot0_link2_torque_y",
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+ "xfrc_applied_robot0_link2_torque_z",
254
+ "xfrc_applied_robot0_link3_force_x",
255
+ "xfrc_applied_robot0_link3_force_y",
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+ "xfrc_applied_robot0_link3_force_z",
257
+ "xfrc_applied_robot0_link3_torque_x",
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+ "xfrc_applied_robot0_link3_torque_y",
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+ "xfrc_applied_robot0_link3_torque_z",
260
+ "xfrc_applied_robot0_link4_force_x",
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+ "xfrc_applied_robot0_link4_force_y",
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+ "xfrc_applied_robot0_link4_force_z",
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+ "xfrc_applied_robot0_link4_torque_x",
264
+ "xfrc_applied_robot0_link4_torque_y",
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+ "xfrc_applied_robot0_link4_torque_z",
266
+ "xfrc_applied_robot0_link5_force_x",
267
+ "xfrc_applied_robot0_link5_force_y",
268
+ "xfrc_applied_robot0_link5_force_z",
269
+ "xfrc_applied_robot0_link5_torque_x",
270
+ "xfrc_applied_robot0_link5_torque_y",
271
+ "xfrc_applied_robot0_link5_torque_z",
272
+ "xfrc_applied_robot0_link6_force_x",
273
+ "xfrc_applied_robot0_link6_force_y",
274
+ "xfrc_applied_robot0_link6_force_z",
275
+ "xfrc_applied_robot0_link6_torque_x",
276
+ "xfrc_applied_robot0_link6_torque_y",
277
+ "xfrc_applied_robot0_link6_torque_z",
278
+ "xfrc_applied_robot0_link7_force_x",
279
+ "xfrc_applied_robot0_link7_force_y",
280
+ "xfrc_applied_robot0_link7_force_z",
281
+ "xfrc_applied_robot0_link7_torque_x",
282
+ "xfrc_applied_robot0_link7_torque_y",
283
+ "xfrc_applied_robot0_link7_torque_z",
284
+ "xfrc_applied_robot0_right_hand_force_x",
285
+ "xfrc_applied_robot0_right_hand_force_y",
286
+ "xfrc_applied_robot0_right_hand_force_z",
287
+ "xfrc_applied_robot0_right_hand_torque_x",
288
+ "xfrc_applied_robot0_right_hand_torque_y",
289
+ "xfrc_applied_robot0_right_hand_torque_z",
290
+ "xfrc_applied_gripper0_right_right_gripper_force_x",
291
+ "xfrc_applied_gripper0_right_right_gripper_force_y",
292
+ "xfrc_applied_gripper0_right_right_gripper_force_z",
293
+ "xfrc_applied_gripper0_right_right_gripper_torque_x",
294
+ "xfrc_applied_gripper0_right_right_gripper_torque_y",
295
+ "xfrc_applied_gripper0_right_right_gripper_torque_z",
296
+ "xfrc_applied_gripper0_right_eef_force_x",
297
+ "xfrc_applied_gripper0_right_eef_force_y",
298
+ "xfrc_applied_gripper0_right_eef_force_z",
299
+ "xfrc_applied_gripper0_right_eef_torque_x",
300
+ "xfrc_applied_gripper0_right_eef_torque_y",
301
+ "xfrc_applied_gripper0_right_eef_torque_z",
302
+ "xfrc_applied_gripper0_right_leftfinger_force_x",
303
+ "xfrc_applied_gripper0_right_leftfinger_force_y",
304
+ "xfrc_applied_gripper0_right_leftfinger_force_z",
305
+ "xfrc_applied_gripper0_right_leftfinger_torque_x",
306
+ "xfrc_applied_gripper0_right_leftfinger_torque_y",
307
+ "xfrc_applied_gripper0_right_leftfinger_torque_z",
308
+ "xfrc_applied_gripper0_right_finger_joint1_tip_force_x",
309
+ "xfrc_applied_gripper0_right_finger_joint1_tip_force_y",
310
+ "xfrc_applied_gripper0_right_finger_joint1_tip_force_z",
311
+ "xfrc_applied_gripper0_right_finger_joint1_tip_torque_x",
312
+ "xfrc_applied_gripper0_right_finger_joint1_tip_torque_y",
313
+ "xfrc_applied_gripper0_right_finger_joint1_tip_torque_z",
314
+ "xfrc_applied_gripper0_right_rightfinger_force_x",
315
+ "xfrc_applied_gripper0_right_rightfinger_force_y",
316
+ "xfrc_applied_gripper0_right_rightfinger_force_z",
317
+ "xfrc_applied_gripper0_right_rightfinger_torque_x",
318
+ "xfrc_applied_gripper0_right_rightfinger_torque_y",
319
+ "xfrc_applied_gripper0_right_rightfinger_torque_z",
320
+ "xfrc_applied_gripper0_right_finger_joint2_tip_force_x",
321
+ "xfrc_applied_gripper0_right_finger_joint2_tip_force_y",
322
+ "xfrc_applied_gripper0_right_finger_joint2_tip_force_z",
323
+ "xfrc_applied_gripper0_right_finger_joint2_tip_torque_x",
324
+ "xfrc_applied_gripper0_right_finger_joint2_tip_torque_y",
325
+ "xfrc_applied_gripper0_right_finger_joint2_tip_torque_z",
326
+ "xfrc_applied_fixed_mount0_base_force_x",
327
+ "xfrc_applied_fixed_mount0_base_force_y",
328
+ "xfrc_applied_fixed_mount0_base_force_z",
329
+ "xfrc_applied_fixed_mount0_base_torque_x",
330
+ "xfrc_applied_fixed_mount0_base_torque_y",
331
+ "xfrc_applied_fixed_mount0_base_torque_z",
332
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