lucazanett2026apache-2.0
Wiping 06 Unsaturated 6D
A LeRobot dataset of whiteboard wiping demonstrations collected with a custom manipulator using 6D rotation representation. Contains 88 episodes of teleoperated wiping tasks with wrist and behind RGB camera feeds, proprioceptive state, and force-torque feedback.
Downloads125
Episodes88
Hours0.879
Why This Matters for Physical AI
This dataset contributes to physical AI research by providing high-quality demonstrations of contact-rich manipulation tasks (wiping) with precise 6D orientation control and multi-modal sensor feedback, enabling training of policies for tasks requiring compliance and spatial reasoning.
Technical Profile
- Modalities
- rgbproprioceptionforce_torque
- Robot Embodiments
- custom_manipulator
- Action Space
- 16-DoF: position.x, position.y, position.z, orientation_6d.0, orientation_6d.1, orientation_6d.2, orientation_6d.3, orientation_6d.4, orientation_6d.5, stiffness.tx, stiffness.ty, stiffness.tz
- Environment
- lab
- Task Types
- wiping
- Episodes
- 88
- Total Hours
- 0.879
- Data Format
- LeRobot
- Annotation Types
- language_instructions
- License
- apache-2.0
Access
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