Datasets:

ami-iit
/

puzzle_manipulation_datasets

camera/realsense/depth/timestamp float64 1.7B 1.7B	timestamps float64 1.7B 1.7B	camera/realsense/rgb/timestamp float64 1.7B 1.7B	walking/com/position/CoM_ZMP_controller/element_0 float64 -0.01 -0	walking/com/position/CoM_ZMP_controller/element_1 float64 -0.01 0.01	walking/com/position/CoM_ZMP_controller/element_2 float64 0.75 0.75	walking/com/position/desired/element_2 float64 0.75 0.75	walking/com/position/measured/element_0 float64 -0.01 0	walking/com/position/measured/element_1 float64 -0 0	walking/com/position/measured/element_2 float64 0.75 0.75	walking/com/velocity/desired/element_0 float64 -0 -0	walking/com/velocity/desired/element_1 float64 -0 -0	walking/dcm/position/measured/element_0 float64 -0.01 0	walking/dcm/position/measured/element_1 float64 -0.01 0.01	walking/joints_state/positions/desired/element_0 float64 -0.52 0.32	walking/joints_state/positions/desired/element_1 float64 -0.25 0.35	walking/joints_state/positions/desired/element_2 float64 -0.79 0.48	walking/joints_state/positions/desired/element_3 float64 -0.07 0.76	walking/joints_state/positions/desired/element_4 float64 -0.04 0.37	walking/joints_state/positions/desired/element_5 float64 -0.47 0.62	walking/joints_state/positions/desired/element_6 float64 -0.48 0.24	walking/joints_state/positions/desired/element_7 float64 0 0.03	walking/joints_state/positions/desired/element_8 float64 -0.87 0.59	walking/joints_state/positions/desired/element_9 float64 0.08 0.4	walking/joints_state/positions/desired/element_10 float64 0.2 0.58	walking/joints_state/positions/desired/element_11 float64 -0.13 0.26	walking/joints_state/positions/desired/element_12 float64 -1.57 -0.66	walking/joints_state/positions/desired/element_13 float64 -1.5 -0.01	walking/joints_state/positions/desired/element_14 float64 0 1.15	walking/joints_state/positions/desired/element_15 float64 -0.26 1.4	walking/joints_state/positions/desired/element_16 float64 -0.05 1.31	walking/joints_state/positions/desired/element_17 float64 -0.92 0.51	walking/joints_state/positions/desired/element_18 float64 -0.52 0.52	walking/joints_state/positions/desired/element_19 float64 -1.14 0.59	walking/joints_state/positions/desired/element_20 float64 0.08 0.11	walking/joints_state/positions/desired/element_21 float64 0.03 0.07	walking/joints_state/positions/desired/element_22 float64 -0.02 -0.01	walking/joints_state/positions/desired/element_23 float64 -0.57 -0.49	walking/joints_state/positions/desired/element_24 float64 -0.35 -0.25	walking/joints_state/positions/desired/element_25 float64 -0.12 -0.02	walking/joints_state/positions/desired/element_26 float64 0.09 0.14	walking/joints_state/positions/desired/element_27 float64 0 0.05	walking/joints_state/positions/desired/element_28 float64 -0.01 0	walking/joints_state/positions/desired/element_29 float64 -0.6 -0.53	walking/joints_state/positions/desired/element_30 float64 -0.36 -0.24	walking/joints_state/positions/desired/element_31 float64 -0.06 0.04	walking/joints_state/positions/measured/element_0 float64 -0.56 0.34	walking/joints_state/positions/measured/element_1 float64 -0.26 0.37	walking/joints_state/positions/measured/element_2 float64 -0.78 0.48	walking/joints_state/positions/measured/element_3 float64 -0.07 0.76	walking/joints_state/positions/measured/element_4 float64 -0.04 0.37	walking/joints_state/positions/measured/element_5 float64 -0.47 0.61	walking/joints_state/positions/measured/element_6 float64 -0.48 0.25	walking/joints_state/positions/measured/element_7 float64 -0.01 0.03	walking/joints_state/positions/measured/element_8 float64 -0.87 0.59	walking/joints_state/positions/measured/element_9 float64 0.09 0.4	walking/joints_state/positions/measured/element_10 float64 0.17 0.58	walking/joints_state/positions/measured/element_11 float64 -0.13 0.26	walking/joints_state/positions/measured/element_12 float64 -1.59 -0.66	walking/joints_state/positions/measured/element_13 float64 -1.5 -0.01	walking/joints_state/positions/measured/element_14 float64 -0.01 1.16	walking/joints_state/positions/measured/element_15 float64 -0.25 1.41	walking/joints_state/positions/measured/element_16 float64 -0.07 1.31	walking/joints_state/positions/measured/element_17 float64 -0.95 0.51	walking/joints_state/positions/measured/element_18 float64 -0.53 0.76	walking/joints_state/positions/measured/element_19 float64 -1.15 0.62	walking/joints_state/positions/measured/element_20 float64 0.09 0.11	walking/joints_state/positions/measured/element_21 float64 0.03 0.07	walking/joints_state/positions/measured/element_22 float64 -0.02 -0.01	walking/joints_state/positions/measured/element_23 float64 -0.57 -0.49	walking/joints_state/positions/measured/element_24 float64 -0.35 -0.25	walking/joints_state/positions/measured/element_25 float64 -0.12 -0.02	walking/joints_state/positions/measured/element_26 float64 0.09 0.14	walking/joints_state/positions/measured/element_27 float64 0 0.05	walking/joints_state/positions/measured/element_28 float64 -0.01 0	walking/joints_state/positions/measured/element_29 float64 -0.6 -0.53	walking/joints_state/positions/measured/element_30 float64 -0.36 -0.24	walking/joints_state/positions/measured/element_31 float64 -0.06 0.04	walking/joints_state/positions/retargeting/element_0 float64 -0.52 0.33	walking/joints_state/positions/retargeting/element_1 float64 -0.26 0.35	walking/joints_state/positions/retargeting/element_2 float64 -0.79 0.49	walking/joints_state/positions/retargeting/element_3 float64 -0.07 0.77	walking/joints_state/positions/retargeting/element_4 float64 -0.06 0.4	walking/joints_state/positions/retargeting/element_5 float64 -0.48 0.62	walking/joints_state/positions/retargeting/element_6 float64 -0.49 0.44	walking/joints_state/positions/retargeting/element_7 float64 -0.22 0.04	walking/joints_state/positions/retargeting/element_8 float64 -0.87 0.59	walking/joints_state/positions/retargeting/element_9 float64 0.08 0.4	walking/joints_state/positions/retargeting/element_10 float64 0.19 0.58	walking/joints_state/positions/retargeting/element_11 float64 -0.13 0.26	walking/joints_state/positions/retargeting/element_12 float64 -1.61 -0.66	walking/joints_state/positions/retargeting/element_13 float64 -1.51 -0.01	walking/joints_state/positions/retargeting/element_14 float64 -0.26 1.17	walking/joints_state/positions/retargeting/element_15 float64 -0.26 1.4	walking/joints_state/positions/retargeting/element_16 float64 -0.05 1.31	walking/joints_state/positions/retargeting/element_17 float64 -0.97 0.52	walking/joints_state/positions/retargeting/element_18 float64 -0.56 0.56	walking/joints_state/positions/retargeting/element_19 float64 -1.19 0.64	walking/joints_state/positions/retargeting/element_20 float64 0.11 0.11	walking/joints_state/positions/retargeting/element_21 float64 0.04 0.04	walking/joints_state/positions/retargeting/element_22 float64 -0.01 -0.01	walking/joints_state/positions/retargeting/element_23 float64 -0.57 -0.57	walking/joints_state/positions/retargeting/element_24 float64 -0.36 -0.36	walking/joints_state/positions/retargeting/element_25 float64 -0.04 -0.04	walking/joints_state/positions/retargeting/element_26 float64 0.11 0.11	walking/joints_state/positions/retargeting/element_27 float64 0.04 0.04	walking/joints_state/positions/retargeting/element_28 float64 -0.01 -0.01	walking/joints_state/positions/retargeting/element_29 float64 -0.57 -0.57	walking/joints_state/positions/retargeting/element_30 float64 -0.36 -0.36	walking/joints_state/positions/retargeting/element_31 float64 -0.04 -0.04	walking/joints_state/velocities/measured/element_0 float64 -1.01 0.81	walking/joints_state/velocities/measured/element_1 float64 -0.58 0.48	walking/joints_state/velocities/measured/element_2 float64 -0.77 0.58	walking/joints_state/velocities/measured/element_3 float64 -0.3 0.3	walking/joints_state/velocities/measured/element_4 float64 -0.16 0.23	walking/joints_state/velocities/measured/element_5 float64 -0.45 0.43	walking/joints_state/velocities/measured/element_9 float64 -0.3 0.49	walking/joints_state/velocities/measured/element_13 float64 -0.51 0.62	walking/joints_state/velocities/measured/element_14 float64 -0.69 0.69	walking/joints_state/velocities/measured/element_15 float64 -0.91 0.72	walking/joints_state/velocities/measured/element_16 float64 -0.81 1.21	walking/joints_state/velocities/measured/element_21 float64 -0.02 0.02	walking/joints_state/velocities/measured/element_23 float64 -0.03 0.04	walking/joints_state/velocities/measured/element_24 float64 -0.05 0.05	walking/joints_state/velocities/measured/element_25 float64 -0.05 0.04	walking/joints_state/velocities/measured/element_26 float64 -0.02 0.02	walking/joints_state/velocities/measured/element_27 float64 -0.02 0.02	walking/joints_state/velocities/measured/element_29 float64 -0.04 0.03	walking/joints_state/velocities/measured/element_30 float64 -0.06 0.07	walking/joints_state/velocities/measured/element_31 float64 -0.05 0.05	walking/joints_state/velocities/retargeting/element_0 float64 -1.22 1.69	walking/joints_state/velocities/retargeting/element_1 float64 -0.55 0.86	walking/joints_state/velocities/retargeting/element_2 float64 -1.01 0.58	walking/joints_state/velocities/retargeting/element_3 float64 -1.39 3.09	walking/joints_state/velocities/retargeting/element_4 float64 -1.19 0.93	walking/joints_state/velocities/retargeting/element_5 float64 -0.75 0.52	walking/joints_state/velocities/retargeting/element_6 float64 -1.4 1.16	walking/joints_state/velocities/retargeting/element_7 float64 -0.5 1.36	walking/joints_state/velocities/retargeting/element_8 float64 -0.73 0.61	walking/joints_state/velocities/retargeting/element_9 float64 -0.61 1.09	walking/joints_state/velocities/retargeting/element_10 float64 -0.53 0.33	walking/joints_state/velocities/retargeting/element_11 float64 -0.35 0.31	walking/joints_state/velocities/retargeting/element_12 float64 -0.54 0.99	walking/joints_state/velocities/retargeting/element_13 float64 -2.2 1.55	walking/joints_state/velocities/retargeting/element_14 float64 -1.29 1.56	walking/joints_state/velocities/retargeting/element_15 float64 -2.07 1.32	walking/joints_state/velocities/retargeting/element_16 float64 -1 1.41	walking/joints_state/velocities/retargeting/element_17 float64 -6.29 3.48	walking/joints_state/velocities/retargeting/element_18 float64 -1.44 1.41	walking/joints_state/velocities/retargeting/element_19 float64 -1.87 3.79	walking/joints_state/velocities/retargeting/element_20 float64 -0 -0	walking/joints_state/velocities/retargeting/element_21 float64 -0 -0	walking/joints_state/velocities/retargeting/element_22 float64 -0 -0	walking/joints_state/velocities/retargeting/element_25 float64 -0 -0	walking/joints_state/velocities/retargeting/element_26 float64 -0 -0	walking/joints_state/velocities/retargeting/element_27 float64 -0 0	walking/joints_state/velocities/retargeting/element_28 float64 -0 0	walking/joints_state/velocities/retargeting/element_29 float64 -0 -0	walking/joints_state/velocities/retargeting/element_30 float64 -0 -0	walking/left_foot/angular_torque/measured/element_0 float64 -14.34 -4.02	walking/left_foot/angular_torque/measured/element_1 float64 -18.63 24.9	walking/left_foot/angular_torque/measured/element_2 float64 -3.06 6.83	walking/left_foot/linear_force/measured/element_0 float64 -31.81 56.3	walking/left_foot/linear_force/measured/element_1 float64 -27.21 4.37	walking/left_foot/linear_force/measured/element_2 float64 240 372	walking/left_foot/orientation/desired/element_1 float64 -0 -0	walking/left_foot/orientation/measured/element_1 float64 -0 -0	walking/left_foot/position/desired/element_1 float64 0.1 0.1	walking/left_foot/position/measured/element_1 float64 0.1 0.1	walking/right_foot/angular_torque/measured/element_0 float64 1.41 7.56	walking/right_foot/angular_torque/measured/element_1 float64 14.4 29.1	walking/right_foot/angular_torque/measured/element_2 float64 -2.64 0.1	walking/right_foot/linear_force/measured/element_0 float64 -6.08 41.4	walking/right_foot/linear_force/measured/element_1 float64 5.61 15.9	walking/right_foot/linear_force/measured/element_2 float64 126 263	walking/right_foot/orientation/desired/element_1 float64 -0 -0	walking/right_foot/orientation/measured/element_0 float64 -0 0	walking/right_foot/orientation/measured/element_1 float64 -0 0	walking/right_foot/orientation/measured/element_2 float64 -0 0	walking/right_foot/position/desired/element_1 float64 -0.1 -0.1	walking/right_foot/position/measured/element_0 float64 -0 0	walking/right_foot/position/measured/element_1 float64 -0.1 -0.1	walking/right_foot/position/measured/element_2 float64 -0 0	walking/root_link/angular_velocity/measured/element_0 float64 -0.04 0.04	walking/root_link/angular_velocity/measured/element_1 float64 -0.06 0.05	walking/root_link/angular_velocity/measured/element_2 float64 -0.01 0.01	walking/root_link/linear_velocity/measured/element_0 float64 -0.04 0.03	walking/root_link/linear_velocity/measured/element_1 float64 -0.04 0.03	walking/root_link/linear_velocity/measured/element_2 float64 -0 0	walking/root_link/orientation/measured/element_0 float64 -0.01 0.04	walking/root_link/orientation/measured/element_1 float64 -0.21 -0.1	walking/root_link/orientation/measured/element_2 float64 -0.01 0	walking/root_link/position/measured/element_0 float64 -0.07 -0	walking/root_link/position/measured/element_1 float64 -0.05 0.01	walking/root_link/position/measured/element_2 float64 0.75 0.75	walking/stance_foot/is_left/element_0 float64 1 1	walking/zmp/desired/element_0 float64 -0.01 0	walking/zmp/desired/element_1 float64 -0.01 0.01	walking/zmp/measured/element_0 float64 -0.07 0.01	walking/zmp/measured/element_1 float64 -0.02 0.05	FTs/l_arm_ft_sensor/f_x float64 -64.36 -44.4	FTs/l_arm_ft_sensor/f_y float64 -0.27 18.9	FTs/l_arm_ft_sensor/f_z float64 23.1 35	FTs/l_arm_ft_sensor/mu_x float64 -1.59 0.89	FTs/l_arm_ft_sensor/mu_y float64 -0.83 3.85	FTs/l_arm_ft_sensor/mu_z float64 -0.39 0.19	FTs/l_foot_front_ft_sensor/f_x float64 -102.17 -43.12	FTs/l_foot_front_ft_sensor/f_y float64 -28.84 28.3	FTs/l_foot_front_ft_sensor/f_z float64 -364.2 -110.78	FTs/l_foot_front_ft_sensor/mu_x float64 -5.97 3.25	FTs/l_foot_front_ft_sensor/mu_y float64 3.57 15	FTs/l_foot_front_ft_sensor/mu_z float64 -0.79 1.31	FTs/l_foot_rear_ft_sensor/f_x float64 -50.45 -4.12	FTs/l_foot_rear_ft_sensor/f_y float64 -34.97 33.4	FTs/l_foot_rear_ft_sensor/f_z float64 -327.94 -20.14	FTs/l_foot_rear_ft_sensor/mu_x float64 -0.67 8.05	FTs/l_foot_rear_ft_sensor/mu_y float64 0.68 11.4	FTs/l_foot_rear_ft_sensor/mu_z float64 -4.7 0.43	FTs/l_leg_ft_sensor/f_x float64 -176.7 -79.56	FTs/l_leg_ft_sensor/f_y float64 27.9 70.7	FTs/l_leg_ft_sensor/f_z float64 -193.36 -70.5	FTs/l_leg_ft_sensor/mu_x float64 -7.49 7.15	FTs/l_leg_ft_sensor/mu_y float64 -19.37 0.89	FTs/l_leg_ft_sensor/mu_z float64 -8.86 0.28	FTs/r_arm_ft_sensor/f_x float64 -141.17 -44.77	FTs/r_arm_ft_sensor/f_y float64 -80.47 -27.74	FTs/r_arm_ft_sensor/f_z float64 -32.41 16.8	FTs/r_arm_ft_sensor/mu_x float64 -8.43 5.4	FTs/r_arm_ft_sensor/mu_y float64 -6.24 5.83	FTs/r_arm_ft_sensor/mu_z float64 -2.51 2.22	FTs/r_foot_front_ft_sensor/f_x float64 -62.53 -45.14	FTs/r_foot_front_ft_sensor/f_y float64 23.6 40.8	FTs/r_foot_front_ft_sensor/f_z float64 -120.48 -33.87	FTs/r_foot_front_ft_sensor/mu_x float64 0.73 3.92	FTs/r_foot_front_ft_sensor/mu_y float64 -0.6 0.85	FTs/r_foot_front_ft_sensor/mu_z float64 -0.53 0	FTs/r_foot_rear_ft_sensor/f_x float64 -82.86 -50.63	FTs/r_foot_rear_ft_sensor/f_y float64 6.5 49	FTs/r_foot_rear_ft_sensor/f_z float64 -308.17 -152.89	FTs/r_foot_rear_ft_sensor/mu_x float64 7.59 14.8	FTs/r_foot_rear_ft_sensor/mu_y float64 0.7 6.67	FTs/r_foot_rear_ft_sensor/mu_z float64 -0.15 2.3	FTs/r_leg_ft_sensor/f_x float64 42.7 111	FTs/r_leg_ft_sensor/f_y float64 -39.37 2.47	FTs/r_leg_ft_sensor/f_z float64 -254.33 -117.92	FTs/r_leg_ft_sensor/mu_x float64 -21.25 -7.56	FTs/r_leg_ft_sensor/mu_y float64 3.09 19.1	FTs/r_leg_ft_sensor/mu_z float64 -0.45 6.96	accelerometers/l_foot_front_ft_acc/a_x float64 -0.04 0.27	accelerometers/l_foot_front_ft_acc/a_y float64 -0.15 0.49	accelerometers/l_foot_front_ft_acc/a_z float64 9.39 10.4	accelerometers/l_foot_rear_ft_acc/a_x float64 -0.86 0.82	accelerometers/l_foot_rear_ft_acc/a_y float64 -0.09 0.38	accelerometers/l_foot_rear_ft_acc/a_z float64 9.3 10.4	accelerometers/l_leg_ft_acc/a_x float64 -3.77 -0.23	accelerometers/l_leg_ft_acc/a_y float64 0.81 2.89	accelerometers/l_leg_ft_acc/a_z float64 -10.11 -8.63	accelerometers/r_arm_ft_acc/a_x float64 -6.98 -2.84	accelerometers/r_arm_ft_acc/a_y float64 0.55 9.18	accelerometers/r_arm_ft_acc/a_z float64 -9.59 -1.22	accelerometers/r_foot_front_ft_acc/a_x float64 -0.88 1.33	accelerometers/r_foot_front_ft_acc/a_y float64 0.06 0.74	accelerometers/r_foot_front_ft_acc/a_z float64 9.1 10.3	accelerometers/r_foot_rear_ft_acc/a_x float64 -0.05 0.86	accelerometers/r_foot_rear_ft_acc/a_y float64 0.21 0.65	accelerometers/r_foot_rear_ft_acc/a_z float64 9.18 10.2	accelerometers/r_leg_ft_acc/a_x float64 -3.11 -0.23	accelerometers/r_leg_ft_acc/a_y float64 -2.88 -0.28	accelerometers/r_leg_ft_acc/a_z float64 -10.46 -8.46	accelerometers/rfeimu_acc/a_x float64 -3.24 2.52	accelerometers/rfeimu_acc/a_y float64 1.04 8.37	accelerometers/rfeimu_acc/a_z float64 -10.09 -6.07	accelerometers/sensor_imu_xsensmt/a_x float64 -1.06 3.35	accelerometers/sensor_imu_xsensmt/a_y float64 8.84 10.2	accelerometers/sensor_imu_xsensmt/a_z float64 -2.98 0.18	cartesian_wrenches/left_arm_wrench_client/f_x float64 -13.08 0.16	cartesian_wrenches/left_arm_wrench_client/f_y float64 -1 8.68	cartesian_wrenches/left_arm_wrench_client/f_z float64 -1.17 6.15	cartesian_wrenches/left_arm_wrench_client/mu_x float64 -2.32 0.03	cartesian_wrenches/left_arm_wrench_client/mu_y float64 -4.11 -0.04	cartesian_wrenches/left_arm_wrench_client/mu_z float64 -0.32 0.64	cartesian_wrenches/left_front_wrench_client/f_x float64 -32.3 17.2	cartesian_wrenches/left_front_wrench_client/f_y float64 -39.73 16.6	cartesian_wrenches/left_front_wrench_client/f_z float64 85.9 327	cartesian_wrenches/left_front_wrench_client/mu_x float64 -13.77 -1.81	cartesian_wrenches/left_front_wrench_client/mu_y float64 -18.4 -1.7	cartesian_wrenches/left_front_wrench_client/mu_z float64 -1.78 0.8	cartesian_wrenches/left_rear_wrench_client/f_x float64 -5.71 45.1	cartesian_wrenches/left_rear_wrench_client/f_y float64 -39.35 16.9	cartesian_wrenches/left_rear_wrench_client/f_z float64 -4.14 282	cartesian_wrenches/left_rear_wrench_client/mu_x float64 -7.08 0.02	cartesian_wrenches/left_rear_wrench_client/mu_y float64 -0.24 26.7	cartesian_wrenches/left_rear_wrench_client/mu_z float64 -1.34 6.42	cartesian_wrenches/right_arm_wrench_client/f_x float64 -13.27 57.2	cartesian_wrenches/right_arm_wrench_client/f_y float64 -64.9 15.5	cartesian_wrenches/right_arm_wrench_client/f_z float64 -8.31 39.2	cartesian_wrenches/right_arm_wrench_client/mu_x float64 -1.79 9.72	cartesian_wrenches/right_arm_wrench_client/mu_y float64 -7.76 10.6	cartesian_wrenches/right_arm_wrench_client/mu_z float64 -2.35 20.1	cartesian_wrenches/right_front_wrench_client/f_x float64 -3.16 3.95	cartesian_wrenches/right_front_wrench_client/f_y float64 -8.34 7.59	cartesian_wrenches/right_front_wrench_client/f_z float64 -1.48 71.4	cartesian_wrenches/right_front_wrench_client/mu_x float64 0 2.67	cartesian_wrenches/right_front_wrench_client/mu_y float64 -2.24 0.07	cartesian_wrenches/right_front_wrench_client/mu_z float64 -0.45 0.21	cartesian_wrenches/right_rear_wrench_client/f_x float64 -5.07 42.4	cartesian_wrenches/right_rear_wrench_client/f_y float64 3.27 17.3	cartesian_wrenches/right_rear_wrench_client/f_z float64 127 264	cartesian_wrenches/right_rear_wrench_client/mu_x float64 0.46 6.66	cartesian_wrenches/right_rear_wrench_client/mu_y float64 14.4 29.1	cartesian_wrenches/right_rear_wrench_client/mu_z float64 -2.37 -0.03	gyros/l_foot_front_ft_gyro/omega_x float64 -0.03 0.04	gyros/l_foot_front_ft_gyro/omega_y float64 -0.06 0.06	gyros/l_foot_front_ft_gyro/omega_z float64 -0.03 0.04	gyros/l_foot_rear_ft_gyro/omega_x float64 -0.03 0.05	gyros/l_foot_rear_ft_gyro/omega_y float64 -0.05 0.04	gyros/l_foot_rear_ft_gyro/omega_z float64 -0.04 0.03	gyros/l_leg_ft_gyro/omega_x float64 -0.04 0.03	gyros/l_leg_ft_gyro/omega_y float64 -0.11 0.07	gyros/l_leg_ft_gyro/omega_z float64 -0.04 0.04	gyros/r_arm_ft_gyro/omega_x float64 -0.73 0.72	gyros/r_arm_ft_gyro/omega_y float64 -0.74 0.58	gyros/r_arm_ft_gyro/omega_z float64 -0.34 0.28	gyros/r_foot_front_ft_gyro/omega_x float64 -0.06 0.08	gyros/r_foot_front_ft_gyro/omega_y float64 -0.03 0.03	gyros/r_foot_front_ft_gyro/omega_z float64 -0.05 0.05	gyros/r_foot_rear_ft_gyro/omega_x float64 -0.06 0.08	gyros/r_foot_rear_ft_gyro/omega_y float64 -0.04 0.04	gyros/r_foot_rear_ft_gyro/omega_z float64 -0.05 0.06	gyros/r_leg_ft_gyro/omega_x float64 -0.06 0.1	gyros/r_leg_ft_gyro/omega_y float64 -0.05 0.04	gyros/r_leg_ft_gyro/omega_z float64 -0.04 0.04	gyros/rfeimu_gyro/omega_x float64 -0.61 0.61	gyros/rfeimu_gyro/omega_y float64 -0.56 0.44	gyros/rfeimu_gyro/omega_z float64 -0.48 0.46	gyros/sensor_imu_xsensmt/omega_x float64 -0.06 0.09	gyros/sensor_imu_xsensmt/omega_y float64 -0.05 0.05	gyros/sensor_imu_xsensmt/omega_z float64 -0.16 0.24	joints_state/accelerations/neck_pitch float64 -143.81 144	joints_state/accelerations/neck_roll float64 -143.81 144	joints_state/accelerations/neck_yaw float64 -191.75 192	joints_state/accelerations/torso_pitch float64 -9.01 9.59	joints_state/accelerations/torso_roll float64 -9.59 10.5	joints_state/accelerations/torso_yaw float64 -15.34 11.5	joints_state/accelerations/l_shoulder_pitch float64 -1.04 1.35	joints_state/accelerations/l_shoulder_yaw float64 -2.89 2.06	joints_state/accelerations/l_elbow float64 -2.03 2.95	joints_state/accelerations/l_thumb_add float64 -2,828.67 1.75k	joints_state/accelerations/l_thumb_oc float64 -2,396.85 2.4k	joints_state/accelerations/l_index_oc float64 -6,759.02 7.85k	joints_state/accelerations/l_middle_oc float64 -3,703.81 2.84k	joints_state/accelerations/l_ring_pinky_oc float64 -5,009.42 2.18k	joints_state/accelerations/r_shoulder_pitch float64 -1.52 2.29	joints_state/accelerations/r_shoulder_roll float64 -2.2 3.17	joints_state/accelerations/r_shoulder_yaw float64 -5.26 3.2	joints_state/accelerations/r_elbow float64 -3.3 3.33	joints_state/accelerations/r_thumb_add float64 -13,301.08 10.9k	joints_state/accelerations/r_thumb_oc float64 -8,952.24 33.4k	joints_state/accelerations/r_index_oc float64 -14,836.41 7.42k	joints_state/accelerations/r_middle_oc float64 -16,354 13.3k	joints_state/accelerations/r_ring_pinky_oc float64 -2,181.81 14.8k	joints_state/accelerations/l_hip_pitch float64 -0.09 0.11	joints_state/accelerations/l_hip_roll float64 -0.12 0.15	joints_state/accelerations/l_knee float64 -0.23 0.25	joints_state/accelerations/l_ankle_pitch float64 -0.2 0.24	joints_state/accelerations/l_ankle_roll float64 -0.41 0.49	joints_state/accelerations/r_hip_pitch float64 -0.11 0.12	joints_state/accelerations/r_hip_roll float64 -0.15 0.14	joints_state/accelerations/r_knee float64 -0.17 0.12	joints_state/accelerations/r_ankle_pitch float64 -0.24 0.29	joints_state/accelerations/r_ankle_roll float64 -0.53 0.37	joints_state/positions/neck_pitch float64 -0.56 0.34	joints_state/positions/neck_roll float64 -0.26 0.37	joints_state/positions/neck_yaw float64 -0.78 0.48	joints_state/positions/camera_tilt float64 -0.46 -0.12	joints_state/positions/torso_pitch float64 -0.07 0.76	joints_state/positions/torso_roll float64 -0.04 0.37	joints_state/positions/torso_yaw float64 -0.47 0.61	joints_state/positions/l_shoulder_pitch float64 -0.48 0.25	joints_state/positions/l_shoulder_roll float64 -0.01 0.03	joints_state/positions/l_shoulder_yaw float64 -0.87 0.59	joints_state/positions/l_elbow float64 0.09 0.4	joints_state/positions/l_wrist_roll float64 0.17 0.58	joints_state/positions/l_wrist_pitch float64 -0.13 0.26	joints_state/positions/l_wrist_yaw float64 -1.59 -0.66	joints_state/positions/l_thumb_add float64 0 0.08	joints_state/positions/l_thumb_oc float64 0.11 0.2	joints_state/positions/l_index_oc float64 0.03 0.15	joints_state/positions/l_middle_oc float64 0.04 0.1	joints_state/positions/l_ring_pinky_oc float64 0.09 0.21	joints_state/positions/r_shoulder_pitch float64 -1.5 -0.01	joints_state/positions/r_shoulder_roll float64 -0.01 1.16	joints_state/positions/r_shoulder_yaw float64 -0.25 1.41	joints_state/positions/r_elbow float64 -0.07 1.31	joints_state/positions/r_wrist_roll float64 -0.95 0.51	joints_state/positions/r_wrist_pitch float64 -0.53 0.76	joints_state/positions/r_wrist_yaw float64 -1.15 0.62	joints_state/positions/r_thumb_add float64 0.25 1.61	joints_state/positions/r_thumb_oc float64 0 1.06	joints_state/positions/r_index_oc float64 0 0.78	joints_state/positions/r_middle_oc float64 0 1.16	joints_state/positions/r_ring_pinky_oc float64 0 1.15	joints_state/positions/l_hip_pitch float64 0.09 0.11	joints_state/positions/l_hip_roll float64 0.03 0.07	joints_state/positions/l_hip_yaw float64 -0.02 -0.01	joints_state/positions/l_knee float64 -0.57 -0.49	joints_state/positions/l_ankle_pitch float64 -0.35 -0.25	joints_state/positions/l_ankle_roll float64 -0.12 -0.02	joints_state/positions/r_hip_pitch float64 0.09 0.14	joints_state/positions/r_hip_roll float64 0 0.05	joints_state/positions/r_hip_yaw float64 -0.01 0	joints_state/positions/r_knee float64 -0.6 -0.53	joints_state/positions/r_ankle_pitch float64 -0.36 -0.24	joints_state/positions/r_ankle_roll float64 -0.06 0.04	joints_state/torques/neck_pitch float64 0.01 1.53	joints_state/torques/neck_roll float64 -0.59 0.74	joints_state/torques/neck_yaw float64 -0.07 0.12	joints_state/torques/torso_pitch float64 -25.38 10.3	joints_state/torques/torso_roll float64 -17.96 8.1	joints_state/torques/torso_yaw float64 -5.53 6.02	joints_state/torques/l_shoulder_pitch float64 -1.8 0.6	joints_state/torques/l_shoulder_roll float64 -2.1 2.45	joints_state/torques/l_shoulder_yaw float64 -0.16 0.31	joints_state/torques/l_elbow float64 -1.55 0.64	joints_state/torques/r_shoulder_pitch float64 -9.02 4.9	joints_state/torques/r_shoulder_roll float64 -7.34 6.16	joints_state/torques/r_shoulder_yaw float64 -1.73 2.8	joints_state/torques/r_elbow float64 -8.87 2.27	joints_state/torques/l_hip_pitch float64 -13.05 -7.82	joints_state/torques/l_hip_roll float64 -0.9 2.18	joints_state/torques/l_hip_yaw float64 -0.81 -0.45	joints_state/torques/l_knee float64 7.04 24.8	joints_state/torques/l_ankle_pitch float64 -11.18 23.1	joints_state/torques/l_ankle_roll float64 5.58 16.1	joints_state/torques/r_hip_pitch float64 4.42 27.1	joints_state/torques/r_hip_roll float64 1.17 17.3	joints_state/torques/r_hip_yaw float64 -5.48 0.82	joints_state/torques/r_knee float64 18.5 30.6	joints_state/torques/r_ankle_pitch float64 -18.8 -8.75	joints_state/torques/r_ankle_roll float64 2.05 8.38	joints_state/velocities/neck_pitch float64 -1.01 0.81	joints_state/velocities/neck_roll float64 -0.53 0.48	joints_state/velocities/neck_yaw float64 -0.77 0.58	joints_state/velocities/torso_pitch float64 -0.3 0.3	joints_state/velocities/torso_roll float64 -0.16 0.24	joints_state/velocities/torso_yaw float64 -0.45 0.43	joints_state/velocities/l_elbow float64 -0.3 0.48	joints_state/velocities/l_thumb_add float64 -2.83 3.04	joints_state/velocities/l_thumb_oc float64 -3.17 2.39	joints_state/velocities/l_index_oc float64 -8.91 9.2	joints_state/velocities/l_middle_oc float64 -3.84 5.34	joints_state/velocities/l_ring_pinky_oc float64 -5.01 3.16	joints_state/velocities/r_shoulder_pitch float64 -0.51 0.61	joints_state/velocities/r_shoulder_roll float64 -0.69 0.69	joints_state/velocities/r_shoulder_yaw float64 -0.91 0.72	joints_state/velocities/r_elbow float64 -0.81 1.21	joints_state/velocities/r_thumb_add float64 -13.31 10.9	joints_state/velocities/r_thumb_oc float64 -72.36 33.4	joints_state/velocities/r_index_oc float64 -18.18 8.71	joints_state/velocities/r_middle_oc float64 -40.28 13.3	joints_state/velocities/r_ring_pinky_oc float64 -11.55 14.8	joints_state/velocities/l_hip_roll float64 -0.02 0.02	joints_state/velocities/l_knee float64 -0.03 0.04	joints_state/velocities/l_ankle_pitch float64 -0.05 0.05	joints_state/velocities/l_ankle_roll float64 -0.05 0.04	joints_state/velocities/r_hip_pitch float64 -0.02 0.02	joints_state/velocities/r_hip_roll float64 -0.02 0.02	joints_state/velocities/r_knee float64 -0.04 0.03	joints_state/velocities/r_ankle_pitch float64 -0.06 0.07	joints_state/velocities/r_ankle_roll float64 -0.05 0.05	magnetometers/l_foot_front_ft_mag/mag_x float64 -0 -0	magnetometers/l_foot_front_ft_mag/mag_y float64 0 0	magnetometers/l_foot_front_ft_mag/mag_z float64 0 0	magnetometers/l_foot_rear_ft_mag/mag_x float64 -0 0	magnetometers/l_foot_rear_ft_mag/mag_y float64 -0 -0	magnetometers/l_foot_rear_ft_mag/mag_z float64 0 0	magnetometers/l_leg_ft_mag/mag_x float64 -0 0	magnetometers/l_leg_ft_mag/mag_y float64 -0 0	magnetometers/l_leg_ft_mag/mag_z float64 0 0	magnetometers/r_arm_ft_mag/mag_x float64 -0 0	magnetometers/r_arm_ft_mag/mag_y float64 -0 0	magnetometers/r_arm_ft_mag/mag_z float64 -0 0	magnetometers/r_foot_front_ft_mag/mag_x float64 -0 0	magnetometers/r_foot_front_ft_mag/mag_y float64 -0 -0	magnetometers/r_foot_front_ft_mag/mag_z float64 0 0	magnetometers/r_foot_rear_ft_mag/mag_x float64 -0 0	magnetometers/r_foot_rear_ft_mag/mag_y float64 -0 -0	magnetometers/r_foot_rear_ft_mag/mag_z float64 0 0	magnetometers/r_leg_ft_mag/mag_x float64 0 0	magnetometers/r_leg_ft_mag/mag_y float64 0 0	magnetometers/r_leg_ft_mag/mag_z float64 -0 0	magnetometers/rfeimu_mag/mag_x float64 -0 0	magnetometers/rfeimu_mag/mag_y float64 -0 0	magnetometers/rfeimu_mag/mag_z float64 0 0	magnetometers/sensor_imu_xsensmt/mag_x float64 -0.83 -0.31	magnetometers/sensor_imu_xsensmt/mag_y float64 -0.72 0.01	magnetometers/sensor_imu_xsensmt/mag_z float64 1.65 2.29	motors_state/PWM/neck_pitch float64 -48.87 40.7	motors_state/PWM/neck_roll float64 -27.53 37.1	motors_state/PWM/neck_yaw float64 -36.31 26.1	motors_state/PWM/camera_tilt float64 -11.93 12.3	motors_state/PWM/torso_pitch float64 -16.41 10.7	motors_state/PWM/torso_roll float64 -15.08 3.09	motors_state/PWM/torso_yaw float64 -7.35 7.3	motors_state/PWM/l_shoulder_pitch float64 -6.72 8.31	motors_state/PWM/l_shoulder_roll float64 -3.14 2.77	motors_state/PWM/l_shoulder_yaw float64 -5.45 4.53	motors_state/PWM/l_elbow float64 -5.24 3.9	motors_state/PWM/l_wrist_roll float64 -0.59 0.31	motors_state/PWM/l_wrist_pitch float64 -0.42 0.27	motors_state/PWM/l_wrist_yaw float64 -0.53 0.19	motors_state/PWM/l_thumb_add float64 -73.78 76.4	motors_state/PWM/l_thumb_oc float64 -22.53 12.1	motors_state/PWM/l_index_oc float64 -38.66 25.2	motors_state/PWM/l_middle_oc float64 -17.95 13.4	motors_state/PWM/l_ring_pinky_oc float64 -45.15 28.7	motors_state/PWM/r_shoulder_pitch float64 -7.38 10.3	motors_state/PWM/r_shoulder_roll float64 -9.84 8.71	motors_state/PWM/r_shoulder_yaw float64 -6.39 7.8	motors_state/PWM/r_elbow float64 -8.31 9.76	motors_state/PWM/r_wrist_roll float64 -0.69 0.83	motors_state/PWM/r_wrist_pitch float64 -0.83 0.82	motors_state/PWM/r_wrist_yaw float64 -0.83 0.8	motors_state/PWM/r_thumb_add float64 -44.64 44.6	motors_state/PWM/r_thumb_oc float64 -80.36 80.4	motors_state/PWM/r_index_oc float64 -80.36 80.4	motors_state/PWM/r_middle_oc float64 -80.36 80.4	motors_state/PWM/l_hip_pitch float64 1.02 6.92	motors_state/PWM/l_hip_roll float64 -2.81 7.13	motors_state/PWM/l_hip_yaw float64 -1.76 3.94	motors_state/PWM/l_knee float64 -9.35 3.03	motors_state/PWM/l_ankle_pitch float64 -10.88 2.88	motors_state/PWM/l_ankle_roll float64 -8.72 -2.78	motors_state/PWM/r_hip_pitch float64 0.7 6.93	motors_state/PWM/r_hip_roll float64 -7.73 0.11	motors_state/PWM/r_hip_yaw float64 -4.68 0.73	motors_state/PWM/r_knee float64 3.91 12.2	motors_state/PWM/r_ankle_pitch float64 -9.04 -0.48	motors_state/PWM/r_ankle_roll float64 -0.47 5.78	motors_state/currents/neck_pitch float64 -1.41 0.97	motors_state/currents/neck_roll float64 -0.49 0.75	motors_state/currents/neck_yaw float64 -0.96 0.71	motors_state/currents/camera_tilt float64 -0.24 0.35	motors_state/currents/torso_pitch float64 -6.88 3.11	motors_state/currents/torso_roll float64 -5.99 1.1	motors_state/currents/torso_yaw float64 -1.64 2.4	motors_state/currents/l_shoulder_pitch float64 -1.39 1.62	motors_state/currents/l_shoulder_roll float64 -0.77 0.89	motors_state/currents/l_shoulder_yaw float64 -1.28 1.3	motors_state/currents/l_elbow float64 -1.26 1.23	motors_state/currents/l_wrist_roll float64 -0.18 0.2	motors_state/currents/l_wrist_pitch float64 -0.15 0.16	motors_state/currents/l_wrist_yaw float64 -0.17 0.09	motors_state/currents/l_thumb_add float64 -0.3 0.4	motors_state/currents/l_thumb_oc float64 -0.25 0.09	motors_state/currents/l_index_oc float64 -0.42 0.36	motors_state/currents/l_middle_oc float64 -0.16 0.11	motors_state/currents/l_ring_pinky_oc float64 -0.53 0.08	motors_state/currents/r_shoulder_pitch float64 -2.64 3.13	motors_state/currents/r_shoulder_roll float64 -2.01 2.53	motors_state/currents/r_shoulder_yaw float64 -1.76 1.86	motors_state/currents/r_elbow float64 -2.57 1.89	motors_state/currents/r_wrist_roll float64 -0.14 0.25	motors_state/currents/r_wrist_pitch float64 -0.2 0.17	motors_state/currents/r_wrist_yaw float64 -0.22 0.11	motors_state/currents/r_thumb_add float64 -0.24 0.79	motors_state/currents/r_thumb_oc float64 -0.84 0.36	motors_state/currents/r_index_oc float64 -0.87 0.4	motors_state/currents/r_middle_oc float64 -0.77 0.27	motors_state/currents/r_ring_pinky_oc float64 -0.78 0.23	motors_state/currents/l_hip_pitch float64 -0.1 2.26	motors_state/currents/l_hip_roll float64 -0.74 2.73	motors_state/currents/l_hip_yaw float64 -0.75 1.34	motors_state/currents/l_knee float64 -6.44 0.68	motors_state/currents/l_ankle_pitch float64 -4.35 0.75	motors_state/currents/l_ankle_roll float64 -4.55 0.4	motors_state/currents/r_hip_pitch float64 -0.29 2.61	motors_state/currents/r_hip_roll float64 -3.1 1.08	motors_state/currents/r_hip_yaw float64 -2.95 1.84	motors_state/currents/r_knee float64 1.27 4.53	motors_state/currents/r_ankle_pitch float64 -2.99 0.07	motors_state/currents/r_ankle_roll float64 -0.33 2.27	motors_state/positions/neck_pitch float64 -205.98 -22.41	motors_state/positions/neck_roll float64 -15.81 181	motors_state/positions/neck_yaw float64 -88.66 37.6	motors_state/positions/camera_tilt float64 -65.46 -17.94	motors_state/positions/torso_pitch float64 -22.88 59.4	motors_state/positions/torso_roll float64 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Puzzle Manipulation Datasets

This dataset is a collection of logged data from the teleoperation of ergoCub manipulating a puzzle.

Dataset Details

Dataset Description

This dataset contains data from the teleoperation of ergoCub collected in an experiment where the robot first unsolves then solves a puzzle.

Curated by: Giovanni Fregonese (@giotherobot)
License: CC BY 4.0

Dataset Creation

Curation Rationale

The dataset was created to enable the development of autonomous manipulation algorithms for the ergoCub robot.

Data Collection and Processing

The data colletion was performed using the tools developed for the ANA Avatar XPRIZE competition. The technology stack used for the data collection is described in the paper: iCub3 avatar system: Enabling remote fully immersive embodiment of humanoid robots.

Who are the source data producers?

The data was collected by the AMI research line at the Istituto Italiano di Tecnologia.

Personal and Sensitive Information

The dataset does not contain personal or sensitive information.

Downloads last month: 40

Size of downloaded dataset files:

7.67 GB

Size of the auto-converted Parquet files:

7.67 GB

Number of rows:

24,017