| { |
| "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": { |
| "vision_joints": "radian", |
| "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": { |
| "enabled": true, |
| "storage": "lerobot_parquet_array_features", |
| "xyz_feature": "observation.pointcloud.xyz", |
| "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", |
| "full_resolution_fallback_frames": null, |
| "full_resolution_fallback_frames_resumed_run": 0, |
| "candidate_limit_applied_frames": null, |
| "candidate_limit_applied_frames_resumed_run": 34542, |
| "crop_min_base_link": [ |
| 0.0, |
| -0.9, |
| -0.08 |
| ], |
| "crop_max_base_link": [ |
| 0.9, |
| 0.0, |
| 0.6 |
| ], |
| "crop_mode": "table_plane", |
| "crop_min_z_behavior": "replaced_by_table_signed_distance", |
| "table_clearance_m": 0.01, |
| "table_fit_z_range_m": [ |
| -0.08, |
| 0.04 |
| ], |
| "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, |
| "max_depth_m": 2.5, |
| "valid_count": { |
| "min": 1024, |
| "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" |
| } |
|
|
