Search is not available for this dataset
observation.state list | action list | observation.ee_target_position list | observation.cartesian_reference_position list | observation.distance_to_ee_target float32 0 0.35 | observation.cube_position list | observation.green_goal_position list | observation.joint_position list | observation.joint_velocity list | observation.pose_jacobian_singular_values list | observation.pose_jacobian_condition_number float32 8.48 20.3 | observation.minimum_joint_limit_margin float32 0.29 1.4 | timestamp float32 0 5.05 | frame_index int64 0 101 | episode_index int64 0 99 | index int64 0 5.5k | task_index int64 0 99 |
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End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Description
Language-conditioned smooth point-to-point Panda end-effector trajectories in robosuite LiftPlace. Episodes form one continuous robot trajectory: the Panda is reset once, while the cube and green placement goal are randomized between episodes without changing the robot state. Each fixed-orientation straight path is screened with bounded damped-least-squares IK before collection, then tracked as a quintic minimum-jerk Cartesian reference. The green placement goal is scene context and is deliberately distinct from the language-conditioned end-effector target.
Reproduction metadata
Dreamer Git commit:
d08a41858ca74f884f5b55e9d01c1d209469b408uv.lockSHA-256:da8f196c6c0c31d255f5f15a063ebc208dc5fed3fc644ce84b0e85ce58fe3402LeRobot release:
0.6.0LeRobot release commit:
30da8e687a6dfc617fcd94afc367ac7071c376ceLeRobot dataset format:
v3.0Python:
3.13Seed:
0Workspace: x=(-0.3, 0.3), y=(-0.3, 0.3), z=(0.95, 1.25) metres
Target quantization: 0.001 m
Minimum target displacement: 0.05 m
Maximum target displacement: 0.35 m
Endpoint tolerance: 0.002 m
Endpoint joint-velocity tolerance: 0.01 rad/s (L2 norm)
Motion profile: quintic minimum jerk (
10t^3 - 15t^4 + 6t^5)Maximum Cartesian reference speed: 0.2 m/s
Maximum Cartesian reference acceleration: 0.5 m/s^2
Maximum Cartesian reference jerk: 2.0 m/s^3
Minimum trajectory length: 20 steps
Maximum trajectory length: 300 steps
Minimum joint-limit margin: 0.2 rad
Minimum pose-Jacobian singular value: 0.08
Maximum pose-Jacobian condition number: 25.0
Preflight joint-limit margin: 0.25 rad
Preflight minimum pose-Jacobian singular value: 0.1
Preflight maximum pose-Jacobian condition number: 20.0
Shadow-rollout joint-limit margin: 0.22 rad
Shadow-rollout minimum pose-Jacobian singular value: 0.09
Shadow-rollout maximum pose-Jacobian condition number: 23.0
Kinematic path samples: 16
Control/video frequency: 20 Hz
Homepage: https://huggingface.co/datasets/dreamer-robot/liftplace-ee-xyz-100
Paper: [More Information Needed]
License: apache-2.0
Dataset Structure
{
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"fps": 20,
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"observation.minimum_joint_limit_margin": {
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"timestamp": {
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"frame_index": {
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},
"total_episodes": 100,
"total_frames": 5496,
"total_tasks": 100,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"robot_type": "panda",
"splits": {
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}
}
Citation
BibTeX:
[More Information Needed]
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