4 episodes · 30 fps · 1 camera · 1280×720
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "dexbot_sharpa",
"total_episodes": 4,
"total_frames": 6065,
"total_tasks": 1,
"total_videos": 4,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:4"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
"action": {
"dtype": "float32",
"shape": [
29
],
"names": [
"arm_joint_1",
"arm_joint_2",
"arm_joint_3",
"arm_joint_4",
"arm_joint_5",
"arm_joint_6",
"arm_joint_7",
"Thumb CMC FE",
"Thumb CMC AA",
"Thumb MCP FE",
"Thumb MCP AA",
"Thumb DIP FE",
"Index MCP FE",
"Index MCP AA",
"Index PIP FE",
"Index DIP FE",
"Middle MCP FE",
"Middle MCP AA",
"Middle PIP FE",
"Middle DIP FE",
"Ring MCP FE",
"Ring MCP AA",
"Ring PIP FE",
"Ring DIP FE",
"Pinky CMC FE",
"Pinky MCP FE",
"Pinky MCP AA",
"Pinky PIP FE",
"Pinky DIP FE"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
29
],
"names": [
"arm_joint_1",
"arm_joint_2",
"arm_joint_3",
"arm_joint_4",
"arm_joint_5",
"arm_joint_6",
"arm_joint_7",
"Thumb CMC FE",
"Thumb CMC AA",
"Thumb MCP FE",
"Thumb MCP AA",
"Thumb DIP FE",
"Index MCP FE",
"Index MCP AA",
"Index PIP FE",
"Index DIP FE",
"Middle MCP FE",
"Middle MCP AA",
"Middle PIP FE",
"Middle DIP FE",
"Ring MCP FE",
"Ring MCP AA",
"Ring PIP FE",
"Ring DIP FE",
"Pinky CMC FE",
"Pinky MCP FE",
"Pinky MCP AA",
"Pinky PIP FE",
"Pinky DIP FE"
]
},
"observation.hand_torque": {
"dtype": "float32",
"shape": [
22
],
"names": [
"Thumb CMC FE",
"Thumb CMC AA",
"Thumb MCP FE",
"Thumb MCP AA",
"Thumb DIP FE",
"Index MCP FE",
"Index MCP AA",
"Index PIP FE",
"Index DIP FE",
"Middle MCP FE",
"Middle MCP AA",
"Middle PIP FE",
"Middle DIP FE",
"Ring MCP FE",
"Ring MCP AA",
"Ring PIP FE",
"Ring DIP FE",
"Pinky CMC FE",
"Pinky MCP FE",
"Pinky MCP AA",
"Pinky PIP FE",
"Pinky DIP FE"
]
},
"observation.tactile": {
"dtype": "float32",
"shape": [
30
],
"names": [
"thumb_Fx",
"thumb_Fy",
"thumb_Fz",
"thumb_Mx",
"thumb_My",
"thumb_Mz",
"index_Fx",
"index_Fy",
"index_Fz",
"index_Mx",
"index_My",
"index_Mz",
"middle_Fx",
"middle_Fy",
"middle_Fz",
"middle_Mx",
"middle_My",
"middle_Mz",
"ring_Fx",
"ring_Fy",
"ring_Fz",
"ring_Mx",
"ring_My",
"ring_Mz",
"pinky_Fx",
"pinky_Fy",
"pinky_Fz",
"pinky_Mx",
"pinky_My",
"pinky_Mz"
]
},
"observation.wrist_wrench": {
"dtype": "float32",
"shape": [
6
],
"names": [
"Fx",
"Fy",
"Fz",
"Mx",
"My",
"Mz"
]
},
"observation.images.zed": {
"dtype": "video",
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channels"
],
"info": "RGB color image (ZED right eye, UVC)"
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
},
"dexbot_controller": {
"side": "right",
"hand_name": "sharpa",
"sources": {
"sensor": {
"host": "localhost",
"port": 5561,
"topic": "sensor_right"
},
"wrist_wrench": {
"host": "localhost",
"port": 5563,
"topic": "wrist_right"
},
"arm_cmd": {
"host": "localhost",
"port": 5557,
"topic": "sharpa_right"
},
"hand_cmd": {
"host": "localhost",
"port": 5560,
"topic": "sharpa_right"
}
},
"hand_controller": {
"control_mode": "position",
"mit_kp_scale": 1.0,
"mit_kd_scale": 1.0,
"filter_alpha": 0.4,
"speed_coeff": 0.3,
"current_coeff": 0.6,
"compliance": false,
"kz": 50.0,
"dz": 5.0,
"kf": 2.0,
"contact_threshold": 0.3,
"orientation": "identity",
"force_cap_mode": true,
"force_cap": 1.5,
"force_cap_ki": 0.5,
"force_cap_release_frac": 0.8,
"force_cap_open_rate": 1.5,
"force_cap_close_rate": 0.4,
"force_cap_limit_margin": 0.05,
"force_cap_exclude": "thumb",
"interpolate": false,
"contact_release_threshold": null,
"f6_alpha": 0.3,
"tau_limit": 0.5,
"dq_limit": 0.3,
"hand_orientation": "identity"
},
"arm_controller": {
"type": "tianji",
"max_delta_deg": 2.0,
"max_lag_deg": 5.0,
"admittance": false,
"admittance_gain": null,
"admittance_deadband_n": null,
"admittance_max_offset_m": null,
"admittance_leak_tau_s": null,
"admittance_sign": null,
"hand": "sharpa",
"watchdog_timeout": 0.5
},
"teleop_pub_hz": null,
"hand_controller_source": "live_stream",
"arm_controller_source": "live_stream"
}
}
Citation
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