UnifoLM_WBT_Dataset
Collection
8 items • Updated • 71
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 37.2 | frame_index int64 0 1.12k | episode_index int64 0 299 | index int64 0 178k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|---|
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0.2999906539916992,
-0.23433072865009308,
-0.07656468451023102,
-0.2069692611694336,
0.57941073179245,
-0.49015307426452637
] | [
0,
0.800000011920929,
0,
0,
0,
0,
0,
0.800000011920929,
0,
0,
0,
0
] | [
-0.0571749322116375,
0.0006277976790443063,
0.7212386727333069,
0.9874404072761536,
0.0005166750634089112,
0.15798979997634888,
-0.0006615124875679612,
-0.894862711429596,
-0.03939840942621231,
0.04201393574476242,
0.5938535928726196,
-0.04996217414736748,
0.021039051935076714,
-0.88878315... | 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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