Hugging Face's logo

Datasets:
LSY-lab
/
triage_v2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
Libraries:
Datasets
pandas
License:
Dataset card Data Studio Files
xet
Community
1
danielsanjosepro commited on
Commit
d13b14d
·
verified ·
1 Parent(s): 29f54c1

Upload folder using huggingface_hub

Browse files
Files changed (2) hide show
  1. meta/crisp_meta.json +99 -0
  2. meta/info.json +186 -0
meta/crisp_meta.json ADDED
@@ -0,0 +1,99 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "crisp_gym_version": "3.2.3",
3
+ "crisp_py_version": "2.0.0",
4
+ "control_type": "CARTESIAN",
5
+ "env_config": {
6
+ "robot_config": {
7
+ "joint_names": [
8
+ "fr3_joint1",
9
+ "fr3_joint2",
10
+ "fr3_joint3",
11
+ "fr3_joint4",
12
+ "fr3_joint5",
13
+ "fr3_joint6",
14
+ "fr3_joint7"
15
+ ],
16
+ "home_config": [
17
+ -0.017396011,
18
+ 0.0955319758,
19
+ 0.000809703053,
20
+ -1.94272034,
21
+ -0.00401435784,
22
+ 2.06584183,
23
+ 0.797426445
24
+ ],
25
+ "base_frame": "base",
26
+ "target_frame": "fr3_hand_tcp",
27
+ "default_controller": "cartesian_impedance_controller",
28
+ "cartesian_impedance_controller_name": "cartesian_impedance_controller",
29
+ "joint_trajectory_controller_name": "joint_impedance_controller",
30
+ "target_pose_topic": "target_pose",
31
+ "target_joint_topic": "target_joint",
32
+ "current_pose_topic": "current_pose",
33
+ "current_joint_topic": "joint_states",
34
+ "current_twist_topic": "current_twist",
35
+ "publish_frequency": 50.0,
36
+ "time_to_home": 2.0,
37
+ "max_pose_delay": 1.0,
38
+ "max_joint_delay": 1.0,
39
+ "use_tf_pose": false,
40
+ "tf_retrieve_rate": 50.0
41
+ },
42
+ "gripper_config": {
43
+ "min_value": 1023.0,
44
+ "max_value": 2069.0,
45
+ "command_topic": "/right/gripper/dynamixel_motor/command",
46
+ "joint_state_topic": "/right/gripper/dynamixel_motor/joint_states",
47
+ "reboot_service": "reboot_gripper",
48
+ "enable_torque_service": "/right/gripper/dynamixel_motor/set_torque",
49
+ "index": 0,
50
+ "publish_frequency": 30.0,
51
+ "max_joint_delay": 1.0,
52
+ "max_delta": 0.1
53
+ },
54
+ "camera_config": [
55
+ {
56
+ "camera_color_image_topic": "right_down_third_person_camera/color/image_raw",
57
+ "camera_color_info_topic": "right_down_third_person_camera/color/camera_info",
58
+ "camera_name": "primary",
59
+ "camera_frame": "primary_link",
60
+ "max_image_delay": 1.0,
61
+ "resolution": [
62
+ 256,
63
+ 256
64
+ ],
65
+ "crop_width": null,
66
+ "crop_height": null
67
+ },
68
+ {
69
+ "camera_color_image_topic": "right_wrist_camera/color/image_rect_raw",
70
+ "camera_color_info_topic": "right_wrist_camera/color/camera_info",
71
+ "camera_name": "wrist",
72
+ "camera_frame": "wrist_link",
73
+ "max_image_delay": 1.0,
74
+ "resolution": [
75
+ 256,
76
+ 256
77
+ ],
78
+ "crop_width": null,
79
+ "crop_height": null
80
+ }
81
+ ],
82
+ "sensor_config": [
83
+ {
84
+ "shape": [
85
+ 6
86
+ ],
87
+ "sensor_type": "force_torque",
88
+ "name": "ft_sensor",
89
+ "data_topic": "/right/external_wrench",
90
+ "max_data_delay": 1.0,
91
+ "buffer_size": null
92
+ }
93
+ ],
94
+ "gripper_mode": "GripperMode.ABSOLUTE_CONTINUOUS",
95
+ "gripper_threshold": 0.1,
96
+ "cartesian_control_param_config": "None",
97
+ "joint_control_param_config": "None"
98
+ }
99
+ }
meta/info.json ADDED
@@ -0,0 +1,186 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "franka",
4
+ "total_episodes": 0,
5
+ "total_frames": 0,
6
+ "total_tasks": 0,
7
+ "total_videos": 0,
8
+ "total_chunks": 0,
9
+ "chunks_size": 1000,
10
+ "fps": 15,
11
+ "splits": {},
12
+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
13
+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
14
+ "features": {
15
+ "observation.images.primary": {
16
+ "dtype": "video",
17
+ "shape": [
18
+ 256,
19
+ 256,
20
+ 3
21
+ ],
22
+ "names": [
23
+ "height",
24
+ "width",
25
+ "channels"
26
+ ],
27
+ "video_info": {
28
+ "video.fps": 30.0,
29
+ "video.codec": "av1",
30
+ "video.pix_fmt": "yuv420p",
31
+ "video.is_depth_map": false,
32
+ "has_audio": false
33
+ }
34
+ },
35
+ "observation.images.wrist": {
36
+ "dtype": "video",
37
+ "shape": [
38
+ 256,
39
+ 256,
40
+ 3
41
+ ],
42
+ "names": [
43
+ "height",
44
+ "width",
45
+ "channels"
46
+ ],
47
+ "video_info": {
48
+ "video.fps": 30.0,
49
+ "video.codec": "av1",
50
+ "video.pix_fmt": "yuv420p",
51
+ "video.is_depth_map": false,
52
+ "has_audio": false
53
+ }
54
+ },
55
+ "observation.state.cartesian": {
56
+ "dtype": "float32",
57
+ "shape": [
58
+ 6
59
+ ],
60
+ "names": [
61
+ "x",
62
+ "y",
63
+ "z",
64
+ "roll",
65
+ "pitch",
66
+ "yaw"
67
+ ]
68
+ },
69
+ "observation.state.gripper": {
70
+ "dtype": "float32",
71
+ "shape": [
72
+ 1
73
+ ],
74
+ "names": [
75
+ "gripper"
76
+ ]
77
+ },
78
+ "observation.state.joints": {
79
+ "dtype": "float32",
80
+ "shape": [
81
+ 7
82
+ ],
83
+ "names": [
84
+ "joint_0",
85
+ "joint_1",
86
+ "joint_2",
87
+ "joint_3",
88
+ "joint_4",
89
+ "joint_5",
90
+ "joint_6"
91
+ ]
92
+ },
93
+ "observation.state.sensors_ft_sensor": {
94
+ "dtype": "float32",
95
+ "shape": [
96
+ 6
97
+ ],
98
+ "names": [
99
+ "sensors_ft_sensor_0",
100
+ "sensors_ft_sensor_1",
101
+ "sensors_ft_sensor_2",
102
+ "sensors_ft_sensor_3",
103
+ "sensors_ft_sensor_4",
104
+ "sensors_ft_sensor_5"
105
+ ]
106
+ },
107
+ "observation.state": {
108
+ "dtype": "float32",
109
+ "shape": [
110
+ 20
111
+ ],
112
+ "names": [
113
+ "x",
114
+ "y",
115
+ "z",
116
+ "roll",
117
+ "pitch",
118
+ "yaw",
119
+ "gripper",
120
+ "joint_0",
121
+ "joint_1",
122
+ "joint_2",
123
+ "joint_3",
124
+ "joint_4",
125
+ "joint_5",
126
+ "joint_6",
127
+ "sensors_ft_sensor_0",
128
+ "sensors_ft_sensor_1",
129
+ "sensors_ft_sensor_2",
130
+ "sensors_ft_sensor_3",
131
+ "sensors_ft_sensor_4",
132
+ "sensors_ft_sensor_5"
133
+ ]
134
+ },
135
+ "action": {
136
+ "dtype": "float32",
137
+ "shape": [
138
+ 7
139
+ ],
140
+ "names": [
141
+ "x",
142
+ "y",
143
+ "z",
144
+ "roll",
145
+ "pitch",
146
+ "yaw",
147
+ "gripper"
148
+ ]
149
+ },
150
+ "timestamp": {
151
+ "dtype": "float32",
152
+ "shape": [
153
+ 1
154
+ ],
155
+ "names": null
156
+ },
157
+ "frame_index": {
158
+ "dtype": "int64",
159
+ "shape": [
160
+ 1
161
+ ],
162
+ "names": null
163
+ },
164
+ "episode_index": {
165
+ "dtype": "int64",
166
+ "shape": [
167
+ 1
168
+ ],
169
+ "names": null
170
+ },
171
+ "index": {
172
+ "dtype": "int64",
173
+ "shape": [
174
+ 1
175
+ ],
176
+ "names": null
177
+ },
178
+ "task_index": {
179
+ "dtype": "int64",
180
+ "shape": [
181
+ 1
182
+ ],
183
+ "names": null
184
+ }
185
+ }
186
+ }