YingYuan0414/steven_nut_comp
This dataset was created using LeRobot. Dataset Structure meta/info.json: { "codebase_version": "v2.1", "robot_type": "dexbot_sharpa", "total_episodes": 8, "total_frames": 14330, "total_tasks": 1, "total_videos": 8, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": { "train": "0:8" }, "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", "video_path":… See the full description on the dataset page: https://huggingface.co/datasets/YingYuan0414/steven_nut_comp.
0175
This dataset was created using LeRobot.
Dataset Description
- Homepage: [More Information Needed]
- Paper: [More Information Needed]
- License: apache-2.0
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "dexbot_sharpa",
"total_episodes": 8,
"total_frames": 14330,
"total_tasks": 1,
"total_videos": 8,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
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},
"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": {
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"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"
]
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"Thumb CMC FE",
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"Thumb DIP FE",
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"Index PIP FE",
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"Middle MCP FE",
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"Middle PIP FE",
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"Ring MCP FE",
"Ring MCP AA",
"Ring PIP FE",
"Ring DIP FE",
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]
},
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},
"observation.tactile": {
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"observation.wrist_wrench": {
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"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"
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"action.applied": {
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"arm_joint_4",
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"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",
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"Pinky PIP FE",
"Pinky DIP FE"
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"action.compliance_dq": {
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"Index DIP FE",
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"Middle MCP AA",
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"Ring MCP FE",
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"Ring PIP FE",
"Ring DIP FE",
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"Pinky MCP FE",
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"Pinky PIP FE",
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},
"observation.images.zed": {
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],
"names": [
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"info": "RGB color image (ZED right eye, UVC)"
},
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}
},
"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": {
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"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": false,
"force_cap": 3.0,
"force_cap_ki": 0.5,
"force_cap_retreat_lag": 0.01,
"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",
"force_cap_source": "torque",
"interpolate": false,
"contact_release_threshold": null,
"f6_alpha": 0.3,
"tau_limit": 0.5,
"dq_limit": 0.3,
"hand_orientation": "identity",
"multifinger_grasp": true,
"multifinger_active_fingers": "thumb,index,middle",
"multifinger_min_contacts": 3,
"multifinger_force_threshold": 0.25,
"multifinger_contact_conf_threshold": 0.2,
"multifinger_pair_hold_assist": false,
"multifinger_tripod_hold_assist": true,
"multifinger_tripod_hold_force_law": "heuristic",
"multifinger_tripod_hold_coupled_force_gain": 0.05,
"multifinger_force_targets": "thumb=0.6,index=0.3,middle=0.25",
"multifinger_shared_calibration": null,
"multifinger_screw_axis_point": "",
"multifinger_screw_axis_direction": "",
"tactile_hold_ms": 80.0,
"calibrate_tactile": true
},
"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
BibTeX:
[More Information Needed]