Datasets:
File size: 3,152 Bytes
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"schema_version": 2,
"dataset_name": "press_button_mix",
"source_task_name": "press_button",
"resumed_from_committed_episodes": 24,
"repo_id": "Keith-Luo/press_button_mix",
"fps": 30,
"state_names": [
"vision.base_yaw",
"vision.shoulder_pitch",
"vision.elbow_pitch",
"vision.wrist_pitch",
"vision.wrist_yaw",
"vision.camera_roll",
"manip.joint1",
"manip.joint2",
"manip.joint3",
"manip.joint4",
"manip.joint5",
"manip.joint6",
"manip.gripper"
],
"action_names": [
"vision.base_yaw",
"vision.shoulder_pitch",
"vision.elbow_pitch",
"vision.wrist_pitch",
"vision.wrist_yaw",
"vision.camera_roll",
"manip.joint1",
"manip.joint2",
"manip.joint3",
"manip.joint4",
"manip.joint5",
"manip.joint6",
"manip.gripper"
],
"units": {
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"manip_joints": "radian",
"manip_gripper": "meter",
"poses": "position_meter_quaternion_xyzw"
},
"rgb_feature": "observation.images.rgb",
"depth_encoding": null,
"aligned_depth_included": false,
"depth_index": "rgbd/index.jsonl",
"depth_uploaded_to_hub": false,
"depth_registered_to": "color_intrinsics",
"world_pointcloud_ready": true,
"world_pointcloud_frame": "base_link",
"pointcloud": {
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"storage": "lerobot_parquet_array_features",
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"rgb_feature": "observation.pointcloud.rgb",
"valid_mask_feature": "observation.pointcloud.valid_mask",
"valid_count_feature": "source.pointcloud_valid_count",
"num_points": 1024,
"coordinate_frame": "base_link",
"xyz_dtype": "float32",
"xyz_unit": "meter",
"rgb_dtype": "uint8",
"rgb_color_order": "RGB",
"sampling_method": "deterministic_uniform_candidate_preselection_then_fps_after_episode_table_plane_relative_crop",
"depth_pixel_stride": 2,
"max_fps_candidates": 1024,
"full_resolution_fallback": "when cropped candidates are fewer than num_points",
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"crop_min_base_link": [
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],
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0.0,
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],
"crop_mode": "table_plane",
"crop_min_z_behavior": "replaced_by_table_signed_distance",
"table_clearance_m": 0.01,
"table_fit_z_range_m": [
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],
"table_fit_frames": 9,
"table_fit_stride": 8,
"table_ransac_threshold_m": 0.006,
"table_max_tilt_deg": 10.0,
"min_depth_m": 0.08,
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"valid_count": {
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"max": 1024,
"mean": 1024.0
},
"statistics": "XYZ/RGB reduce over frames and valid points; mask is excluded"
},
"hand_eye_status": "PASS",
"hand_eye_warnings": [],
"hand_eye_sha256": "2448ab27a8f2f973bc8befa4979ae8b45dc97d26385538421643c9eb9217edc5",
"hand_eye_source": "/home/ubuntu/QuestArmTeleop/data/calibration/cambot_mount_to_color_optical.json"
}
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