Datasets:

LancetRobotics
/

uniforce_loading_only_30f_rect_safe_500k_v2_packed_npy30k

episode_id int64 0 737	indenter stringclasses 18 values	indenter_split stringclasses 3 values	is_unseen_indenter bool 2 classes	scale_key stringclasses 1 value	scale_mm float64 21.3 21.3	scale_requested_mm float64 21.3 21.3	scale_simulated_mm float64 21.3 21.3	gel_width_mm float64 21.3 21.3	gel_height_mm float64 16 16	global_seq_index int64 0 29	frame_name stringclasses 30 values	phase_name stringclasses 1 value	phase_index int64 0 29	phase_progress float64 0 1	frame_depth_mm float64 0.05 3.49	frame_actual_max_down_mm float64 0.05 3.49	requested_depth_mm float64 0.05 3.49	actual_depth_mm float64 0.05 3.49	final_depth_mm float64 0.25 3.49	safe_depth_cap_mm float64 1.21 3.5	final_depth_ratio float64 0.2 1	final_depth_bin stringclasses 4 values	loading_profile_type stringclasses 3 values	loading_gamma float64 1 1.99 ⌀	sequence_mode stringclasses 1 value	is_loading bool 1 class	is_hold bool 1 class	is_release bool 1 class	ref_dir_relpath stringclasses 738 values	ref_marker_relpaths dict	contact_x_norm float64 -0.89 0.9	contact_y_norm float64 -0.72 0.69	contact_x_mm float64 -9.5 9.56	contact_y_mm float64 -5.75 5.48	frame_dir_relpath stringlengths 43 43	adapter_coord_map_relpath stringclasses 738 values	marker_names listlengths 22 22	split stringclasses 1 value	scale_split stringclasses 1 value	is_unseen_scale bool 1 class	position_sample_type_requested stringclasses 3 values	position_sample_type_actual stringclasses 2 values	requested_depth_max_mm float64 3.5 3.5	effective_depth_mm float64 0.25 3.49	depth_was_capped bool 1 class	short_edge_mm float64 16 16
0	cone	train	false	scale_21p3333mm	21.3333	21.3333	21.3333	21.3333	16	0	frame_000000	loading	0	0	0.051518	0.051518	0.05	0.051518	0.652016	1.2104	0.538678	medium	human_pinch	null	loading_only	true	false	false	episode_000000/scale_21p3333mm/ref	{ "marker_Array5.npy": "episode_000000/scale_21p3333mm/ref/marker_Array5.npy", "marker_Array6.npy": "episode_000000/scale_21p3333mm/ref/marker_Array6.npy", "marker_Array7.npy": "episode_000000/scale_21p3333mm/ref/marker_Array7.npy", "marker_Array8.npy": "episode_000000/scale_21p3333mm/ref/marker_Array8.npy", ...	0.051078	-0.319352	0.5448	-2.5548	episode_000000/scale_21p3333mm/frame_000000	episode_000000/scale_21p3333mm/adapter_coord_map.npy	[ "marker_Array5.npy", "marker_Array6.npy", "marker_Array7.npy", "marker_Array8.npy", "marker_Circle5.npy", "marker_Circle6.npy", "marker_a1-01.npy", "marker_a2-01.npy", "marker_a3-01.npy", "marker_a4-01.npy", "marker_c1-01.npy", "marker_c2-01.npy", "marker_c3-01.npy", "marker_c4-01.npy", ...	train	train	false	clean	clean	3.5	0.652016	false	16
0	cone	train	false	scale_21p3333mm	21.3333	21.3333	21.3333	21.3333	16	1	frame_000001	loading	1	0.034483	0.053589	0.053589	0.050234	0.053589	0.652016	1.2104	0.538678	medium	human_pinch	null	loading_only	true	false	false	episode_000000/scale_21p3333mm/ref	{ "marker_Array5.npy": "episode_000000/scale_21p3333mm/ref/marker_Array5.npy", "marker_Array6.npy": "episode_000000/scale_21p3333mm/ref/marker_Array6.npy", "marker_Array7.npy": "episode_000000/scale_21p3333mm/ref/marker_Array7.npy", "marker_Array8.npy": "episode_000000/scale_21p3333mm/ref/marker_Array8.npy", ...	0.051078	-0.319352	0.5448	-2.5548	episode_000000/scale_21p3333mm/frame_000001	episode_000000/scale_21p3333mm/adapter_coord_map.npy	[ "marker_Array5.npy", "marker_Array6.npy", "marker_Array7.npy", "marker_Array8.npy", "marker_Circle5.npy", "marker_Circle6.npy", "marker_a1-01.npy", "marker_a2-01.npy", "marker_a3-01.npy", "marker_a4-01.npy", "marker_c1-01.npy", "marker_c2-01.npy", "marker_c3-01.npy", "marker_c4-01.npy", ...	train	train	false	clean	clean	3.5	0.652016	false	16
0	cone	train	false	scale_21p3333mm	21.3333	21.3333	21.3333	21.3333	16	2	frame_000002	loading	2	0.068966	0.05596	0.05596	0.051776	0.05596	0.652016	1.2104	0.538678	medium	human_pinch	null	loading_only	true	false	false	episode_000000/scale_21p3333mm/ref	{ "marker_Array5.npy": "episode_000000/scale_21p3333mm/ref/marker_Array5.npy", "marker_Array6.npy": "episode_000000/scale_21p3333mm/ref/marker_Array6.npy", "marker_Array7.npy": "episode_000000/scale_21p3333mm/ref/marker_Array7.npy", "marker_Array8.npy": "episode_000000/scale_21p3333mm/ref/marker_Array8.npy", ...	0.051078	-0.319352	0.5448	-2.5548	episode_000000/scale_21p3333mm/frame_000002	episode_000000/scale_21p3333mm/adapter_coord_map.npy	[ "marker_Array5.npy", "marker_Array6.npy", "marker_Array7.npy", "marker_Array8.npy", "marker_Circle5.npy", "marker_Circle6.npy", "marker_a1-01.npy", "marker_a2-01.npy", "marker_a3-01.npy", "marker_a4-01.npy", "marker_c1-01.npy", "marker_c2-01.npy", "marker_c3-01.npy", "marker_c4-01.npy", ...	train	train	false	clean	clean	3.5	0.652016	false	16
0	cone	train	false	scale_21p3333mm	21.3333	21.3333	21.3333	21.3333	16	3	frame_000003	loading	3	0.103448	0.058592	0.058592	0.055673	0.058592	0.652016	1.2104	0.538678	medium	human_pinch	null	loading_only	true	false	false	episode_000000/scale_21p3333mm/ref	{ "marker_Array5.npy": "episode_000000/scale_21p3333mm/ref/marker_Array5.npy", "marker_Array6.npy": "episode_000000/scale_21p3333mm/ref/marker_Array6.npy", "marker_Array7.npy": "episode_000000/scale_21p3333mm/ref/marker_Array7.npy", "marker_Array8.npy": "episode_000000/scale_21p3333mm/ref/marker_Array8.npy", ...	0.051078	-0.319352	0.5448	-2.5548	episode_000000/scale_21p3333mm/frame_000003	episode_000000/scale_21p3333mm/adapter_coord_map.npy	[ "marker_Array5.npy", "marker_Array6.npy", "marker_Array7.npy", "marker_Array8.npy", "marker_Circle5.npy", "marker_Circle6.npy", "marker_a1-01.npy", "marker_a2-01.npy", "marker_a3-01.npy", "marker_a4-01.npy", "marker_c1-01.npy", "marker_c2-01.npy", "marker_c3-01.npy", "marker_c4-01.npy", ...	train	train	false	clean	clean	3.5	0.652016	false	16
0	cone	train	false	scale_21p3333mm	21.3333	21.3333	21.3333	21.3333	16	4	frame_000004	loading	4	0.137931	0.064535	0.064535	0.06271	0.064535	0.652016	1.2104	0.538678	medium	human_pinch	null	loading_only	true	false	false	episode_000000/scale_21p3333mm/ref	{ "marker_Array5.npy": "episode_000000/scale_21p3333mm/ref/marker_Array5.npy", "marker_Array6.npy": "episode_000000/scale_21p3333mm/ref/marker_Array6.npy", "marker_Array7.npy": "episode_000000/scale_21p3333mm/ref/marker_Array7.npy", "marker_Array8.npy": "episode_000000/scale_21p3333mm/ref/marker_Array8.npy", ...	0.051078	-0.319352	0.5448	-2.5548	episode_000000/scale_21p3333mm/frame_000004	episode_000000/scale_21p3333mm/adapter_coord_map.npy	[ "marker_Array5.npy", "marker_Array6.npy", "marker_Array7.npy", "marker_Array8.npy", "marker_Circle5.npy", "marker_Circle6.npy", "marker_a1-01.npy", "marker_a2-01.npy", "marker_a3-01.npy", "marker_a4-01.npy", "marker_c1-01.npy", "marker_c2-01.npy", "marker_c3-01.npy", "marker_c4-01.npy", ...	train	train	false	clean	clean	3.5	0.652016	false	16
0	cone	train	false	scale_21p3333mm	21.3333	21.3333	21.3333	21.3333	16	5	frame_000005	loading	5	0.172414	0.074678	0.074678	0.073426	0.074678	0.652016	1.2104	0.538678	medium	human_pinch	null	loading_only	true	false	false	episode_000000/scale_21p3333mm/ref	{ "marker_Array5.npy": "episode_000000/scale_21p3333mm/ref/marker_Array5.npy", "marker_Array6.npy": "episode_000000/scale_21p3333mm/ref/marker_Array6.npy", "marker_Array7.npy": "episode_000000/scale_21p3333mm/ref/marker_Array7.npy", "marker_Array8.npy": "episode_000000/scale_21p3333mm/ref/marker_Array8.npy", ...	0.051078	-0.319352	0.5448	-2.5548	episode_000000/scale_21p3333mm/frame_000005	episode_000000/scale_21p3333mm/adapter_coord_map.npy	[ "marker_Array5.npy", "marker_Array6.npy", "marker_Array7.npy", "marker_Array8.npy", "marker_Circle5.npy", "marker_Circle6.npy", "marker_a1-01.npy", "marker_a2-01.npy", "marker_a3-01.npy", "marker_a4-01.npy", "marker_c1-01.npy", "marker_c2-01.npy", "marker_c3-01.npy", "marker_c4-01.npy", ...	train	train	false	clean	clean	3.5	0.652016	false	16
0	cone	train	false	scale_21p3333mm	21.3333	21.3333	21.3333	21.3333	16	6	frame_000006	loading	6	0.206897	0.08955	0.08955	0.08814	0.08955	0.652016	1.2104	0.538678	medium	human_pinch	null	loading_only	true	false	false	episode_000000/scale_21p3333mm/ref	{ "marker_Array5.npy": "episode_000000/scale_21p3333mm/ref/marker_Array5.npy", "marker_Array6.npy": "episode_000000/scale_21p3333mm/ref/marker_Array6.npy", "marker_Array7.npy": "episode_000000/scale_21p3333mm/ref/marker_Array7.npy", "marker_Array8.npy": "episode_000000/scale_21p3333mm/ref/marker_Array8.npy", ...	0.051078	-0.319352	0.5448	-2.5548	episode_000000/scale_21p3333mm/frame_000006	episode_000000/scale_21p3333mm/adapter_coord_map.npy	[ "marker_Array5.npy", "marker_Array6.npy", "marker_Array7.npy", "marker_Array8.npy", "marker_Circle5.npy", "marker_Circle6.npy", "marker_a1-01.npy", "marker_a2-01.npy", "marker_a3-01.npy", "marker_a4-01.npy", "marker_c1-01.npy", "marker_c2-01.npy", "marker_c3-01.npy", "marker_c4-01.npy", ...	train	train	false	clean	clean	3.5	0.652016	false	16
0	cone	train	false	scale_21p3333mm	21.3333	21.3333	21.3333	21.3333	16	7	frame_000007	loading	7	0.241379	0.108963	0.108963	0.106971	0.108963	0.652016	1.2104	0.538678	medium	human_pinch	null	loading_only	true	false	false	episode_000000/scale_21p3333mm/ref	{ "marker_Array5.npy": "episode_000000/scale_21p3333mm/ref/marker_Array5.npy", "marker_Array6.npy": "episode_000000/scale_21p3333mm/ref/marker_Array6.npy", "marker_Array7.npy": "episode_000000/scale_21p3333mm/ref/marker_Array7.npy", "marker_Array8.npy": "episode_000000/scale_21p3333mm/ref/marker_Array8.npy", ...	0.051078	-0.319352	0.5448	-2.5548	episode_000000/scale_21p3333mm/frame_000007	episode_000000/scale_21p3333mm/adapter_coord_map.npy	[ "marker_Array5.npy", "marker_Array6.npy", "marker_Array7.npy", "marker_Array8.npy", "marker_Circle5.npy", "marker_Circle6.npy", "marker_a1-01.npy", "marker_a2-01.npy", "marker_a3-01.npy", "marker_a4-01.npy", "marker_c1-01.npy", "marker_c2-01.npy", "marker_c3-01.npy", "marker_c4-01.npy", ...	train	train	false	clean	clean	3.5	0.652016	false	16
0	cone	train	false	scale_21p3333mm	21.3333	21.3333	21.3333	21.3333	16	8	frame_000008	loading	8	0.275862	0.132202	0.132202	0.129856	0.132202	0.652016	1.2104	0.538678	medium	human_pinch	null	loading_only	true	false	false	episode_000000/scale_21p3333mm/ref	{ "marker_Array5.npy": "episode_000000/scale_21p3333mm/ref/marker_Array5.npy", "marker_Array6.npy": "episode_000000/scale_21p3333mm/ref/marker_Array6.npy", "marker_Array7.npy": "episode_000000/scale_21p3333mm/ref/marker_Array7.npy", "marker_Array8.npy": "episode_000000/scale_21p3333mm/ref/marker_Array8.npy", ...	0.051078	-0.319352	0.5448	-2.5548	episode_000000/scale_21p3333mm/frame_000008	episode_000000/scale_21p3333mm/adapter_coord_map.npy	[ "marker_Array5.npy", "marker_Array6.npy", "marker_Array7.npy", "marker_Array8.npy", "marker_Circle5.npy", "marker_Circle6.npy", "marker_a1-01.npy", "marker_a2-01.npy", "marker_a3-01.npy", "marker_a4-01.npy", "marker_c1-01.npy", "marker_c2-01.npy", "marker_c3-01.npy", "marker_c4-01.npy", ...	train	train	false	clean	clean	3.5	0.652016	false	16
0	cone	train	false	scale_21p3333mm	21.3333	21.3333	21.3333	21.3333	16	9	frame_000009	loading	9	0.310345	0.15895	0.15895	0.156577	0.15895	0.652016	1.2104	0.538678	medium	human_pinch	null	loading_only	true	false	false	episode_000000/scale_21p3333mm/ref	{ "marker_Array5.npy": "episode_000000/scale_21p3333mm/ref/marker_Array5.npy", "marker_Array6.npy": "episode_000000/scale_21p3333mm/ref/marker_Array6.npy", "marker_Array7.npy": "episode_000000/scale_21p3333mm/ref/marker_Array7.npy", "marker_Array8.npy": "episode_000000/scale_21p3333mm/ref/marker_Array8.npy", ...	0.051078	-0.319352	0.5448	-2.5548	episode_000000/scale_21p3333mm/frame_000009	episode_000000/scale_21p3333mm/adapter_coord_map.npy	[ "marker_Array5.npy", "marker_Array6.npy", "marker_Array7.npy", "marker_Array8.npy", "marker_Circle5.npy", "marker_Circle6.npy", "marker_a1-01.npy", "marker_a2-01.npy", "marker_a3-01.npy", "marker_a4-01.npy", "marker_c1-01.npy", "marker_c2-01.npy", "marker_c3-01.npy", "marker_c4-01.npy", ...	train	train	false	clean	clean	3.5	0.652016	false	16
0	cone	train	false	scale_21p3333mm	21.3333	21.3333	21.3333	21.3333	16	10	frame_000010	loading	10	0.344828	0.188021	0.188021	0.186774	0.188021	0.652016	1.2104	0.538678	medium	human_pinch	null	loading_only	true	false	false	episode_000000/scale_21p3333mm/ref	{ "marker_Array5.npy": "episode_000000/scale_21p3333mm/ref/marker_Array5.npy", "marker_Array6.npy": "episode_000000/scale_21p3333mm/ref/marker_Array6.npy", "marker_Array7.npy": "episode_000000/scale_21p3333mm/ref/marker_Array7.npy", "marker_Array8.npy": "episode_000000/scale_21p3333mm/ref/marker_Array8.npy", ...	0.051078	-0.319352	0.5448	-2.5548	episode_000000/scale_21p3333mm/frame_000010	episode_000000/scale_21p3333mm/adapter_coord_map.npy	[ "marker_Array5.npy", "marker_Array6.npy", "marker_Array7.npy", "marker_Array8.npy", "marker_Circle5.npy", "marker_Circle6.npy", "marker_a1-01.npy", "marker_a2-01.npy", "marker_a3-01.npy", "marker_a4-01.npy", "marker_c1-01.npy", "marker_c2-01.npy", "marker_c3-01.npy", "marker_c4-01.npy", ...	train	train	false	clean	clean	3.5	0.652016	false	16
0	cone	train	false	scale_21p3333mm	21.3333	21.3333	21.3333	21.3333	16	11	frame_000011	loading	11	0.37931	0.221627	0.221627	0.219975	0.221627	0.652016	1.2104	0.538678	medium	human_pinch	null	loading_only	true	false	false	episode_000000/scale_21p3333mm/ref	{ "marker_Array5.npy": "episode_000000/scale_21p3333mm/ref/marker_Array5.npy", "marker_Array6.npy": "episode_000000/scale_21p3333mm/ref/marker_Array6.npy", "marker_Array7.npy": "episode_000000/scale_21p3333mm/ref/marker_Array7.npy", "marker_Array8.npy": "episode_000000/scale_21p3333mm/ref/marker_Array8.npy", ...	0.051078	-0.319352	0.5448	-2.5548	episode_000000/scale_21p3333mm/frame_000011	episode_000000/scale_21p3333mm/adapter_coord_map.npy	[ "marker_Array5.npy", "marker_Array6.npy", "marker_Array7.npy", "marker_Array8.npy", "marker_Circle5.npy", "marker_Circle6.npy", "marker_a1-01.npy", "marker_a2-01.npy", "marker_a3-01.npy", "marker_a4-01.npy", "marker_c1-01.npy", "marker_c2-01.npy", "marker_c3-01.npy", "marker_c4-01.npy", ...	train	train	false	clean	clean	3.5	0.652016	false	16
0	cone	train	false	scale_21p3333mm	21.3333	21.3333	21.3333	21.3333	16	12	frame_000012	loading	12	0.413793	0.257135	0.257135	0.255611	0.257135	0.652016	1.2104	0.538678	medium	human_pinch	null	loading_only	true	false	false	episode_000000/scale_21p3333mm/ref	{ "marker_Array5.npy": "episode_000000/scale_21p3333mm/ref/marker_Array5.npy", "marker_Array6.npy": "episode_000000/scale_21p3333mm/ref/marker_Array6.npy", "marker_Array7.npy": "episode_000000/scale_21p3333mm/ref/marker_Array7.npy", "marker_Array8.npy": "episode_000000/scale_21p3333mm/ref/marker_Array8.npy", ...	0.051078	-0.319352	0.5448	-2.5548	episode_000000/scale_21p3333mm/frame_000012	episode_000000/scale_21p3333mm/adapter_coord_map.npy	[ "marker_Array5.npy", "marker_Array6.npy", "marker_Array7.npy", "marker_Array8.npy", "marker_Circle5.npy", "marker_Circle6.npy", "marker_a1-01.npy", "marker_a2-01.npy", "marker_a3-01.npy", "marker_a4-01.npy", "marker_c1-01.npy", "marker_c2-01.npy", "marker_c3-01.npy", "marker_c4-01.npy", ...	train	train	false	clean	clean	3.5	0.652016	false	16
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0	cone	train	false	scale_21p3333mm	21.3333	21.3333	21.3333	21.3333	16	14	frame_000014	loading	14	0.482759	0.331559	0.331559	0.331562	0.331559	0.652016	1.2104	0.538678	medium	human_pinch	null	loading_only	true	false	false	episode_000000/scale_21p3333mm/ref	{ "marker_Array5.npy": "episode_000000/scale_21p3333mm/ref/marker_Array5.npy", "marker_Array6.npy": "episode_000000/scale_21p3333mm/ref/marker_Array6.npy", "marker_Array7.npy": "episode_000000/scale_21p3333mm/ref/marker_Array7.npy", "marker_Array8.npy": "episode_000000/scale_21p3333mm/ref/marker_Array8.npy", ...	0.051078	-0.319352	0.5448	-2.5548	episode_000000/scale_21p3333mm/frame_000014	episode_000000/scale_21p3333mm/adapter_coord_map.npy	[ "marker_Array5.npy", "marker_Array6.npy", "marker_Array7.npy", "marker_Array8.npy", "marker_Circle5.npy", "marker_Circle6.npy", "marker_a1-01.npy", "marker_a2-01.npy", "marker_a3-01.npy", "marker_a4-01.npy", "marker_c1-01.npy", "marker_c2-01.npy", "marker_c3-01.npy", "marker_c4-01.npy", ...	train	train	false	clean	clean	3.5	0.652016	false	16
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1	cone	train	false	scale_21p3333mm	21.3333	21.3333	21.3333	21.3333	16	13	frame_000013	loading	13	0.448276	0.257999	0.257999	0.257468	0.257999	0.563907	1.2104	0.465885	medium	human_pinch	null	loading_only	true	false	false	episode_000001/scale_21p3333mm/ref	{ "marker_Array5.npy": "episode_000001/scale_21p3333mm/ref/marker_Array5.npy", "marker_Array6.npy": "episode_000001/scale_21p3333mm/ref/marker_Array6.npy", "marker_Array7.npy": "episode_000001/scale_21p3333mm/ref/marker_Array7.npy", "marker_Array8.npy": "episode_000001/scale_21p3333mm/ref/marker_Array8.npy", ...	0.614974	0.238035	6.5597	1.9043	episode_000001/scale_21p3333mm/frame_000013	episode_000001/scale_21p3333mm/adapter_coord_map.npy	[ "marker_Array5.npy", "marker_Array6.npy", "marker_Array7.npy", "marker_Array8.npy", "marker_Circle5.npy", "marker_Circle6.npy", "marker_a1-01.npy", "marker_a2-01.npy", "marker_a3-01.npy", "marker_a4-01.npy", "marker_c1-01.npy", "marker_c2-01.npy", "marker_c3-01.npy", "marker_c4-01.npy", ...	train	train	false	clean	clean	3.5	0.563907	false	16
1	cone	train	false	scale_21p3333mm	21.3333	21.3333	21.3333	21.3333	16	14	frame_000014	loading	14	0.482759	0.291547	0.291547	0.290353	0.291547	0.563907	1.2104	0.465885	medium	human_pinch	null	loading_only	true	false	false	episode_000001/scale_21p3333mm/ref	{ "marker_Array5.npy": "episode_000001/scale_21p3333mm/ref/marker_Array5.npy", "marker_Array6.npy": "episode_000001/scale_21p3333mm/ref/marker_Array6.npy", "marker_Array7.npy": "episode_000001/scale_21p3333mm/ref/marker_Array7.npy", "marker_Array8.npy": "episode_000001/scale_21p3333mm/ref/marker_Array8.npy", ...	0.614974	0.238035	6.5597	1.9043	episode_000001/scale_21p3333mm/frame_000014	episode_000001/scale_21p3333mm/adapter_coord_map.npy	[ "marker_Array5.npy", "marker_Array6.npy", "marker_Array7.npy", "marker_Array8.npy", "marker_Circle5.npy", "marker_Circle6.npy", "marker_a1-01.npy", "marker_a2-01.npy", "marker_a3-01.npy", "marker_a4-01.npy", "marker_c1-01.npy", "marker_c2-01.npy", "marker_c3-01.npy", "marker_c4-01.npy", ...	train	train	false	clean	clean	3.5	0.563907	false	16
1	cone	train	false	scale_21p3333mm	21.3333	21.3333	21.3333	21.3333	16	15	frame_000015	loading	15	0.517241	0.324505	0.324505	0.323554	0.324505	0.563907	1.2104	0.465885	medium	human_pinch	null	loading_only	true	false	false	episode_000001/scale_21p3333mm/ref	{ "marker_Array5.npy": "episode_000001/scale_21p3333mm/ref/marker_Array5.npy", "marker_Array6.npy": "episode_000001/scale_21p3333mm/ref/marker_Array6.npy", "marker_Array7.npy": "episode_000001/scale_21p3333mm/ref/marker_Array7.npy", "marker_Array8.npy": "episode_000001/scale_21p3333mm/ref/marker_Array8.npy", ...	0.614974	0.238035	6.5597	1.9043	episode_000001/scale_21p3333mm/frame_000015	episode_000001/scale_21p3333mm/adapter_coord_map.npy	[ "marker_Array5.npy", "marker_Array6.npy", "marker_Array7.npy", "marker_Array8.npy", "marker_Circle5.npy", "marker_Circle6.npy", "marker_a1-01.npy", "marker_a2-01.npy", "marker_a3-01.npy", "marker_a4-01.npy", "marker_c1-01.npy", "marker_c2-01.npy", "marker_c3-01.npy", "marker_c4-01.npy", ...	train	train	false	clean	clean	3.5	0.563907	false	16
1	cone	train	false	scale_21p3333mm	21.3333	21.3333	21.3333	21.3333	16	16	frame_000016	loading	16	0.551724	0.360043	0.360043	0.356439	0.360043	0.563907	1.2104	0.465885	medium	human_pinch	null	loading_only	true	false	false	episode_000001/scale_21p3333mm/ref	{ "marker_Array5.npy": "episode_000001/scale_21p3333mm/ref/marker_Array5.npy", "marker_Array6.npy": "episode_000001/scale_21p3333mm/ref/marker_Array6.npy", "marker_Array7.npy": "episode_000001/scale_21p3333mm/ref/marker_Array7.npy", "marker_Array8.npy": "episode_000001/scale_21p3333mm/ref/marker_Array8.npy", ...	0.614974	0.238035	6.5597	1.9043	episode_000001/scale_21p3333mm/frame_000016	episode_000001/scale_21p3333mm/adapter_coord_map.npy	[ "marker_Array5.npy", "marker_Array6.npy", "marker_Array7.npy", "marker_Array8.npy", "marker_Circle5.npy", "marker_Circle6.npy", "marker_a1-01.npy", "marker_a2-01.npy", "marker_a3-01.npy", "marker_a4-01.npy", "marker_c1-01.npy", "marker_c2-01.npy", "marker_c3-01.npy", "marker_c4-01.npy", ...	train	train	false	clean	clean	3.5	0.563907	false	16
1	cone	train	false	scale_21p3333mm	21.3333	21.3333	21.3333	21.3333	16	17	frame_000017	loading	17	0.586207	0.388548	0.388548	0.388389	0.388548	0.563907	1.2104	0.465885	medium	human_pinch	null	loading_only	true	false	false	episode_000001/scale_21p3333mm/ref	{ "marker_Array5.npy": "episode_000001/scale_21p3333mm/ref/marker_Array5.npy", "marker_Array6.npy": "episode_000001/scale_21p3333mm/ref/marker_Array6.npy", "marker_Array7.npy": "episode_000001/scale_21p3333mm/ref/marker_Array7.npy", "marker_Array8.npy": "episode_000001/scale_21p3333mm/ref/marker_Array8.npy", ...	0.614974	0.238035	6.5597	1.9043	episode_000001/scale_21p3333mm/frame_000017	episode_000001/scale_21p3333mm/adapter_coord_map.npy	[ "marker_Array5.npy", "marker_Array6.npy", "marker_Array7.npy", "marker_Array8.npy", "marker_Circle5.npy", "marker_Circle6.npy", "marker_a1-01.npy", "marker_a2-01.npy", "marker_a3-01.npy", "marker_a4-01.npy", "marker_c1-01.npy", "marker_c2-01.npy", "marker_c3-01.npy", "marker_c4-01.npy", ...	train	train	false	clean	clean	3.5	0.563907	false	16
1	cone	train	false	scale_21p3333mm	21.3333	21.3333	21.3333	21.3333	16	18	frame_000018	loading	18	0.62069	0.418915	0.418915	0.418809	0.418915	0.563907	1.2104	0.465885	medium	human_pinch	null	loading_only	true	false	false	episode_000001/scale_21p3333mm/ref	{ "marker_Array5.npy": "episode_000001/scale_21p3333mm/ref/marker_Array5.npy", "marker_Array6.npy": "episode_000001/scale_21p3333mm/ref/marker_Array6.npy", "marker_Array7.npy": "episode_000001/scale_21p3333mm/ref/marker_Array7.npy", "marker_Array8.npy": "episode_000001/scale_21p3333mm/ref/marker_Array8.npy", ...	0.614974	0.238035	6.5597	1.9043	episode_000001/scale_21p3333mm/frame_000018	episode_000001/scale_21p3333mm/adapter_coord_map.npy	[ "marker_Array5.npy", "marker_Array6.npy", "marker_Array7.npy", "marker_Array8.npy", "marker_Circle5.npy", "marker_Circle6.npy", "marker_a1-01.npy", "marker_a2-01.npy", "marker_a3-01.npy", "marker_a4-01.npy", "marker_c1-01.npy", "marker_c2-01.npy", "marker_c3-01.npy", "marker_c4-01.npy", ...	train	train	false	clean	clean	3.5	0.563907	false	16
1	cone	train	false	scale_21p3333mm	21.3333	21.3333	21.3333	21.3333	16	19	frame_000019	loading	19	0.655172	0.44904	0.44904	0.44715	0.44904	0.563907	1.2104	0.465885	medium	human_pinch	null	loading_only	true	false	false	episode_000001/scale_21p3333mm/ref	{ "marker_Array5.npy": "episode_000001/scale_21p3333mm/ref/marker_Array5.npy", "marker_Array6.npy": "episode_000001/scale_21p3333mm/ref/marker_Array6.npy", "marker_Array7.npy": "episode_000001/scale_21p3333mm/ref/marker_Array7.npy", "marker_Array8.npy": "episode_000001/scale_21p3333mm/ref/marker_Array8.npy", ...	0.614974	0.238035	6.5597	1.9043	episode_000001/scale_21p3333mm/frame_000019	episode_000001/scale_21p3333mm/adapter_coord_map.npy	[ "marker_Array5.npy", "marker_Array6.npy", "marker_Array7.npy", "marker_Array8.npy", "marker_Circle5.npy", "marker_Circle6.npy", "marker_a1-01.npy", "marker_a2-01.npy", "marker_a3-01.npy", "marker_a4-01.npy", "marker_c1-01.npy", "marker_c2-01.npy", "marker_c3-01.npy", "marker_c4-01.npy", ...	train	train	false	clean	clean	3.5	0.563907	false	16
1	cone	train	false	scale_21p3333mm	21.3333	21.3333	21.3333	21.3333	16	20	frame_000020	loading	20	0.689655	0.473627	0.473627	0.472928	0.473627	0.563907	1.2104	0.465885	medium	human_pinch	null	loading_only	true	false	false	episode_000001/scale_21p3333mm/ref	{ "marker_Array5.npy": "episode_000001/scale_21p3333mm/ref/marker_Array5.npy", "marker_Array6.npy": "episode_000001/scale_21p3333mm/ref/marker_Array6.npy", "marker_Array7.npy": "episode_000001/scale_21p3333mm/ref/marker_Array7.npy", "marker_Array8.npy": "episode_000001/scale_21p3333mm/ref/marker_Array8.npy", ...	0.614974	0.238035	6.5597	1.9043	episode_000001/scale_21p3333mm/frame_000020	episode_000001/scale_21p3333mm/adapter_coord_map.npy	[ "marker_Array5.npy", "marker_Array6.npy", "marker_Array7.npy", "marker_Array8.npy", "marker_Circle5.npy", "marker_Circle6.npy", "marker_a1-01.npy", "marker_a2-01.npy", "marker_a3-01.npy", "marker_a4-01.npy", "marker_c1-01.npy", "marker_c2-01.npy", "marker_c3-01.npy", "marker_c4-01.npy", ...	train	train	false	clean	clean	3.5	0.563907	false	16
1	cone	train	false	scale_21p3333mm	21.3333	21.3333	21.3333	21.3333	16	21	frame_000021	loading	21	0.724138	0.497146	0.497146	0.495738	0.497146	0.563907	1.2104	0.465885	medium	human_pinch	null	loading_only	true	false	false	episode_000001/scale_21p3333mm/ref	{ "marker_Array5.npy": "episode_000001/scale_21p3333mm/ref/marker_Array5.npy", "marker_Array6.npy": "episode_000001/scale_21p3333mm/ref/marker_Array6.npy", "marker_Array7.npy": "episode_000001/scale_21p3333mm/ref/marker_Array7.npy", "marker_Array8.npy": "episode_000001/scale_21p3333mm/ref/marker_Array8.npy", ...	0.614974	0.238035	6.5597	1.9043	episode_000001/scale_21p3333mm/frame_000021	episode_000001/scale_21p3333mm/adapter_coord_map.npy	[ "marker_Array5.npy", "marker_Array6.npy", "marker_Array7.npy", "marker_Array8.npy", "marker_Circle5.npy", "marker_Circle6.npy", "marker_a1-01.npy", "marker_a2-01.npy", "marker_a3-01.npy", "marker_a4-01.npy", "marker_c1-01.npy", "marker_c2-01.npy", "marker_c3-01.npy", "marker_c4-01.npy", ...	train	train	false	clean	clean	3.5	0.563907	false	16
1	cone	train	false	scale_21p3333mm	21.3333	21.3333	21.3333	21.3333	16	22	frame_000022	loading	22	0.758621	0.518102	0.518102	0.515274	0.518102	0.563907	1.2104	0.465885	medium	human_pinch	null	loading_only	true	false	false	episode_000001/scale_21p3333mm/ref	{ "marker_Array5.npy": "episode_000001/scale_21p3333mm/ref/marker_Array5.npy", "marker_Array6.npy": "episode_000001/scale_21p3333mm/ref/marker_Array6.npy", "marker_Array7.npy": "episode_000001/scale_21p3333mm/ref/marker_Array7.npy", "marker_Array8.npy": "episode_000001/scale_21p3333mm/ref/marker_Array8.npy", ...	0.614974	0.238035	6.5597	1.9043	episode_000001/scale_21p3333mm/frame_000022	episode_000001/scale_21p3333mm/adapter_coord_map.npy	[ "marker_Array5.npy", "marker_Array6.npy", "marker_Array7.npy", "marker_Array8.npy", "marker_Circle5.npy", "marker_Circle6.npy", "marker_a1-01.npy", "marker_a2-01.npy", "marker_a3-01.npy", "marker_a4-01.npy", "marker_c1-01.npy", "marker_c2-01.npy", "marker_c3-01.npy", "marker_c4-01.npy", ...	train	train	false	clean	clean	3.5	0.563907	false	16
1	cone	train	false	scale_21p3333mm	21.3333	21.3333	21.3333	21.3333	16	23	frame_000023	loading	23	0.793103	0.531591	0.531591	0.531349	0.531591	0.563907	1.2104	0.465885	medium	human_pinch	null	loading_only	true	false	false	episode_000001/scale_21p3333mm/ref	{ "marker_Array5.npy": "episode_000001/scale_21p3333mm/ref/marker_Array5.npy", "marker_Array6.npy": "episode_000001/scale_21p3333mm/ref/marker_Array6.npy", "marker_Array7.npy": "episode_000001/scale_21p3333mm/ref/marker_Array7.npy", "marker_Array8.npy": "episode_000001/scale_21p3333mm/ref/marker_Array8.npy", ...	0.614974	0.238035	6.5597	1.9043	episode_000001/scale_21p3333mm/frame_000023	episode_000001/scale_21p3333mm/adapter_coord_map.npy	[ "marker_Array5.npy", "marker_Array6.npy", "marker_Array7.npy", "marker_Array8.npy", "marker_Circle5.npy", "marker_Circle6.npy", "marker_a1-01.npy", "marker_a2-01.npy", "marker_a3-01.npy", "marker_a4-01.npy", "marker_c1-01.npy", "marker_c2-01.npy", "marker_c3-01.npy", "marker_c4-01.npy", ...	train	train	false	clean	clean	3.5	0.563907	false	16
1	cone	train	false	scale_21p3333mm	21.3333	21.3333	21.3333	21.3333	16	24	frame_000024	loading	24	0.827586	0.545344	0.545344	0.54391	0.545344	0.563907	1.2104	0.465885	medium	human_pinch	null	loading_only	true	false	false	episode_000001/scale_21p3333mm/ref	{ "marker_Array5.npy": "episode_000001/scale_21p3333mm/ref/marker_Array5.npy", "marker_Array6.npy": "episode_000001/scale_21p3333mm/ref/marker_Array6.npy", "marker_Array7.npy": "episode_000001/scale_21p3333mm/ref/marker_Array7.npy", "marker_Array8.npy": "episode_000001/scale_21p3333mm/ref/marker_Array8.npy", ...	0.614974	0.238035	6.5597	1.9043	episode_000001/scale_21p3333mm/frame_000024	episode_000001/scale_21p3333mm/adapter_coord_map.npy	[ "marker_Array5.npy", "marker_Array6.npy", "marker_Array7.npy", "marker_Array8.npy", "marker_Circle5.npy", "marker_Circle6.npy", "marker_a1-01.npy", "marker_a2-01.npy", "marker_a3-01.npy", "marker_a4-01.npy", "marker_c1-01.npy", "marker_c2-01.npy", "marker_c3-01.npy", "marker_c4-01.npy", ...	train	train	false	clean	clean	3.5	0.563907	false	16
1	cone	train	false	scale_21p3333mm	21.3333	21.3333	21.3333	21.3333	16	25	frame_000025	loading	25	0.862069	0.556171	0.556171	0.553057	0.556171	0.563907	1.2104	0.465885	medium	human_pinch	null	loading_only	true	false	false	episode_000001/scale_21p3333mm/ref	{ "marker_Array5.npy": "episode_000001/scale_21p3333mm/ref/marker_Array5.npy", "marker_Array6.npy": "episode_000001/scale_21p3333mm/ref/marker_Array6.npy", "marker_Array7.npy": "episode_000001/scale_21p3333mm/ref/marker_Array7.npy", "marker_Array8.npy": "episode_000001/scale_21p3333mm/ref/marker_Array8.npy", ...	0.614974	0.238035	6.5597	1.9043	episode_000001/scale_21p3333mm/frame_000025	episode_000001/scale_21p3333mm/adapter_coord_map.npy	[ "marker_Array5.npy", "marker_Array6.npy", "marker_Array7.npy", "marker_Array8.npy", "marker_Circle5.npy", "marker_Circle6.npy", "marker_a1-01.npy", "marker_a2-01.npy", "marker_a3-01.npy", "marker_a4-01.npy", "marker_c1-01.npy", "marker_c2-01.npy", "marker_c3-01.npy", "marker_c4-01.npy", ...	train	train	false	clean	clean	3.5	0.563907	false	16

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UniForce Loading Only 30f Rect Safe 500k v2 Packed NPY 30k

This dataset is a packed-NPY version of uniforce_loading_only_30f_rect_safe_500k_v2. Images are binary tactile marker frames stored as np.packbits arrays rather than JPEGs.

Layout

manifest.json: dataset manifest and generation metadata.
event_index*.jsonl: frame/event metadata with .npy image paths.
conversion_summary.json: conversion stats from the original image dataset.
shards/episodes_*.tar: uncompressed tar shards containing episode_* directories.

Image Encoding

Each image file is a one-dimensional uint8 NumPy array with shape (38400,). It represents a packed binary image of shape (480, 640).

import numpy as np

packed = np.load("marker_Array5.npy")
image = np.unpackbits(packed).reshape((480, 640)).astype(np.uint8) * 255

Expected per-image file size is 38,528 bytes, which is within the target range of 30 KiB +/- 10 KiB.

Extraction

mkdir -p uniforce_loading_only_30f_rect_safe_500k_v2_packed_npy30k
cd uniforce_loading_only_30f_rect_safe_500k_v2_packed_npy30k

# Copy top-level metadata files here, then extract shards:
for f in /path/to/shards/episodes_*.tar; do
  tar -xf "$f"
done

Summary

Episodes: 738
Converted image files: 503,316
Frame images: 487,080
Reference images: 16,236
Image format: npy_packbits_binary
Unpacked image size: 640 x 480
Stored packed shape: (38400,)
Per-image size: 38,528 bytes
Original _work* intermediate folders are excluded.

Downloads last month: 62