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Datasets:
zima-robot
/
stack_v4_day2

Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
100K - 1M
Tags:
LeRobot
robotics
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
xet
 Community
rtbhowmik commited on
Commit
e701cfc
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1 Parent(s): 6f1f423

mirror corpus from the cluster

Browse files
Files changed (19) hide show
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+ {
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+ "video.preset": 12,
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+ "video.video_backend": "pyav",
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+ "video.extra_options": {},
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+ "is_depth_map": false
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+ }
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+ },
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+ "shape": [
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+ 256,
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+ 3
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+ ],
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+ ],
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+ }
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+ 8
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+ ],
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+ "names": [
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+ "ee_position_x",
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+ "ee_position_y",
71
+ "ee_position_z",
72
+ "ee_axis_angle_x",
73
+ "ee_axis_angle_y",
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+ "ee_axis_angle_z",
75
+ "gripper_left_qpos",
76
+ "gripper_right_qpos"
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+ ]
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+ },
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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",
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+ "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",
96
+ "qpos_red_cube_joint0_position_y",
97
+ "qpos_red_cube_joint0_position_z",
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+ "qpos_red_cube_joint0_quaternion_w",
99
+ "qpos_red_cube_joint0_quaternion_x",
100
+ "qpos_red_cube_joint0_quaternion_y",
101
+ "qpos_red_cube_joint0_quaternion_z",
102
+ "qpos_blue_cube_joint0_position_x",
103
+ "qpos_blue_cube_joint0_position_y",
104
+ "qpos_blue_cube_joint0_position_z",
105
+ "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",
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+ "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",
138
+ "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",
146
+ "qacc_warmstart_robot0_joint4_angular_velocity",
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+ "qacc_warmstart_robot0_joint5_angular_velocity",
148
+ "qacc_warmstart_robot0_joint6_angular_velocity",
149
+ "qacc_warmstart_robot0_joint7_angular_velocity",
150
+ "qacc_warmstart_gripper0_right_finger_joint1_linear_velocity",
151
+ "qacc_warmstart_gripper0_right_finger_joint2_linear_velocity",
152
+ "qacc_warmstart_red_cube_joint0_linear_velocity_x",
153
+ "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",
156
+ "qacc_warmstart_red_cube_joint0_angular_velocity_y",
157
+ "qacc_warmstart_red_cube_joint0_angular_velocity_z",
158
+ "qacc_warmstart_blue_cube_joint0_linear_velocity_x",
159
+ "qacc_warmstart_blue_cube_joint0_linear_velocity_y",
160
+ "qacc_warmstart_blue_cube_joint0_linear_velocity_z",
161
+ "qacc_warmstart_blue_cube_joint0_angular_velocity_x",
162
+ "qacc_warmstart_blue_cube_joint0_angular_velocity_y",
163
+ "qacc_warmstart_blue_cube_joint0_angular_velocity_z",
164
+ "qacc_warmstart_green_cube_joint0_linear_velocity_x",
165
+ "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",
172
+ "control_robot0_torq_j3",
173
+ "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",
180
+ "qfrc_applied_robot0_joint2_angular_velocity",
181
+ "qfrc_applied_robot0_joint3_angular_velocity",
182
+ "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",
187
+ "qfrc_applied_gripper0_right_finger_joint2_linear_velocity",
188
+ "qfrc_applied_red_cube_joint0_linear_velocity_x",
189
+ "qfrc_applied_red_cube_joint0_linear_velocity_y",
190
+ "qfrc_applied_red_cube_joint0_linear_velocity_z",
191
+ "qfrc_applied_red_cube_joint0_angular_velocity_x",
192
+ "qfrc_applied_red_cube_joint0_angular_velocity_y",
193
+ "qfrc_applied_red_cube_joint0_angular_velocity_z",
194
+ "qfrc_applied_blue_cube_joint0_linear_velocity_x",
195
+ "qfrc_applied_blue_cube_joint0_linear_velocity_y",
196
+ "qfrc_applied_blue_cube_joint0_linear_velocity_z",
197
+ "qfrc_applied_blue_cube_joint0_angular_velocity_x",
198
+ "qfrc_applied_blue_cube_joint0_angular_velocity_y",
199
+ "qfrc_applied_blue_cube_joint0_angular_velocity_z",
200
+ "qfrc_applied_green_cube_joint0_linear_velocity_x",
201
+ "qfrc_applied_green_cube_joint0_linear_velocity_y",
202
+ "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",
211
+ "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",
227
+ "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",
232
+ "xfrc_applied_robot0_base_force_z",
233
+ "xfrc_applied_robot0_base_torque_x",
234
+ "xfrc_applied_robot0_base_torque_y",
235
+ "xfrc_applied_robot0_base_torque_z",
236
+ "xfrc_applied_robot0_link0_force_x",
237
+ "xfrc_applied_robot0_link0_force_y",
238
+ "xfrc_applied_robot0_link0_force_z",
239
+ "xfrc_applied_robot0_link0_torque_x",
240
+ "xfrc_applied_robot0_link0_torque_y",
241
+ "xfrc_applied_robot0_link0_torque_z",
242
+ "xfrc_applied_robot0_link1_force_x",
243
+ "xfrc_applied_robot0_link1_force_y",
244
+ "xfrc_applied_robot0_link1_force_z",
245
+ "xfrc_applied_robot0_link1_torque_x",
246
+ "xfrc_applied_robot0_link1_torque_y",
247
+ "xfrc_applied_robot0_link1_torque_z",
248
+ "xfrc_applied_robot0_link2_force_x",
249
+ "xfrc_applied_robot0_link2_force_y",
250
+ "xfrc_applied_robot0_link2_force_z",
251
+ "xfrc_applied_robot0_link2_torque_x",
252
+ "xfrc_applied_robot0_link2_torque_y",
253
+ "xfrc_applied_robot0_link2_torque_z",
254
+ "xfrc_applied_robot0_link3_force_x",
255
+ "xfrc_applied_robot0_link3_force_y",
256
+ "xfrc_applied_robot0_link3_force_z",
257
+ "xfrc_applied_robot0_link3_torque_x",
258
+ "xfrc_applied_robot0_link3_torque_y",
259
+ "xfrc_applied_robot0_link3_torque_z",
260
+ "xfrc_applied_robot0_link4_force_x",
261
+ "xfrc_applied_robot0_link4_force_y",
262
+ "xfrc_applied_robot0_link4_force_z",
263
+ "xfrc_applied_robot0_link4_torque_x",
264
+ "xfrc_applied_robot0_link4_torque_y",
265
+ "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
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