Upload LeRobot v3 dataset from lerobot_v3_pack_gripper_1786883025 (3/9)
Browse files- meta/info.json +342 -0
meta/info.json
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| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"fps": 30,
|
| 4 |
+
"features": {
|
| 5 |
+
"observation.state": {
|
| 6 |
+
"dtype": "float32",
|
| 7 |
+
"shape": [
|
| 8 |
+
6
|
| 9 |
+
],
|
| 10 |
+
"names": [
|
| 11 |
+
"Base",
|
| 12 |
+
"Shoulder",
|
| 13 |
+
"Elbow",
|
| 14 |
+
"Wrist 1",
|
| 15 |
+
"Wrist 2",
|
| 16 |
+
"Wrist 3"
|
| 17 |
+
]
|
| 18 |
+
},
|
| 19 |
+
"observation.ee_pose": {
|
| 20 |
+
"dtype": "float32",
|
| 21 |
+
"shape": [
|
| 22 |
+
6
|
| 23 |
+
],
|
| 24 |
+
"names": [
|
| 25 |
+
"x",
|
| 26 |
+
"y",
|
| 27 |
+
"z",
|
| 28 |
+
"rx",
|
| 29 |
+
"ry",
|
| 30 |
+
"rz"
|
| 31 |
+
]
|
| 32 |
+
},
|
| 33 |
+
"observation.ee_force_torque": {
|
| 34 |
+
"dtype": "float32",
|
| 35 |
+
"shape": [
|
| 36 |
+
6
|
| 37 |
+
],
|
| 38 |
+
"names": [
|
| 39 |
+
"Fx",
|
| 40 |
+
"Fy",
|
| 41 |
+
"Fz",
|
| 42 |
+
"Tx",
|
| 43 |
+
"Ty",
|
| 44 |
+
"Tz"
|
| 45 |
+
]
|
| 46 |
+
},
|
| 47 |
+
"observation.gripper_state": {
|
| 48 |
+
"dtype": "float32",
|
| 49 |
+
"shape": [
|
| 50 |
+
1
|
| 51 |
+
],
|
| 52 |
+
"names": [
|
| 53 |
+
"gripper_state"
|
| 54 |
+
]
|
| 55 |
+
},
|
| 56 |
+
"observation.gripper_current": {
|
| 57 |
+
"dtype": "float32",
|
| 58 |
+
"shape": [
|
| 59 |
+
1
|
| 60 |
+
],
|
| 61 |
+
"names": [
|
| 62 |
+
"gripper_current"
|
| 63 |
+
]
|
| 64 |
+
},
|
| 65 |
+
"observation.gripper_object": {
|
| 66 |
+
"dtype": "float32",
|
| 67 |
+
"shape": [
|
| 68 |
+
1
|
| 69 |
+
],
|
| 70 |
+
"names": [
|
| 71 |
+
"gripper_object"
|
| 72 |
+
]
|
| 73 |
+
},
|
| 74 |
+
"observation.gripper_status": {
|
| 75 |
+
"dtype": "float32",
|
| 76 |
+
"shape": [
|
| 77 |
+
1
|
| 78 |
+
],
|
| 79 |
+
"names": [
|
| 80 |
+
"gripper_status"
|
| 81 |
+
]
|
| 82 |
+
},
|
| 83 |
+
"observation.gripper_fault": {
|
| 84 |
+
"dtype": "float32",
|
| 85 |
+
"shape": [
|
| 86 |
+
1
|
| 87 |
+
],
|
| 88 |
+
"names": [
|
| 89 |
+
"gripper_fault"
|
| 90 |
+
]
|
| 91 |
+
},
|
| 92 |
+
"observation.gripper_position_request_echo": {
|
| 93 |
+
"dtype": "float32",
|
| 94 |
+
"shape": [
|
| 95 |
+
1
|
| 96 |
+
],
|
| 97 |
+
"names": [
|
| 98 |
+
"gripper_position_request_echo"
|
| 99 |
+
]
|
| 100 |
+
},
|
| 101 |
+
"observation.gripper_speed_request_echo": {
|
| 102 |
+
"dtype": "float32",
|
| 103 |
+
"shape": [
|
| 104 |
+
1
|
| 105 |
+
],
|
| 106 |
+
"names": [
|
| 107 |
+
"gripper_speed_request_echo"
|
| 108 |
+
]
|
| 109 |
+
},
|
| 110 |
+
"observation.gripper_force_request_echo": {
|
| 111 |
+
"dtype": "float32",
|
| 112 |
+
"shape": [
|
| 113 |
+
1
|
| 114 |
+
],
|
| 115 |
+
"names": [
|
| 116 |
+
"gripper_force_request_echo"
|
| 117 |
+
]
|
| 118 |
+
},
|
| 119 |
+
"action": {
|
| 120 |
+
"dtype": "float32",
|
| 121 |
+
"shape": [
|
| 122 |
+
9
|
| 123 |
+
],
|
| 124 |
+
"names": [
|
| 125 |
+
"Base",
|
| 126 |
+
"Shoulder",
|
| 127 |
+
"Elbow",
|
| 128 |
+
"Wrist 1",
|
| 129 |
+
"Wrist 2",
|
| 130 |
+
"Wrist 3",
|
| 131 |
+
"gripper",
|
| 132 |
+
"gripper_speed",
|
| 133 |
+
"gripper_force"
|
| 134 |
+
]
|
| 135 |
+
},
|
| 136 |
+
"action.ee_pose_next": {
|
| 137 |
+
"dtype": "float32",
|
| 138 |
+
"shape": [
|
| 139 |
+
6
|
| 140 |
+
],
|
| 141 |
+
"names": [
|
| 142 |
+
"x",
|
| 143 |
+
"y",
|
| 144 |
+
"z",
|
| 145 |
+
"rx",
|
| 146 |
+
"ry",
|
| 147 |
+
"rz"
|
| 148 |
+
]
|
| 149 |
+
},
|
| 150 |
+
"action.ee_pose_delta": {
|
| 151 |
+
"dtype": "float32",
|
| 152 |
+
"shape": [
|
| 153 |
+
6
|
| 154 |
+
],
|
| 155 |
+
"names": [
|
| 156 |
+
"x",
|
| 157 |
+
"y",
|
| 158 |
+
"z",
|
| 159 |
+
"rx",
|
| 160 |
+
"ry",
|
| 161 |
+
"rz"
|
| 162 |
+
]
|
| 163 |
+
},
|
| 164 |
+
"observation.images.workspace_front": {
|
| 165 |
+
"dtype": "video",
|
| 166 |
+
"shape": [
|
| 167 |
+
480,
|
| 168 |
+
640,
|
| 169 |
+
3
|
| 170 |
+
],
|
| 171 |
+
"names": [
|
| 172 |
+
"height",
|
| 173 |
+
"width",
|
| 174 |
+
"channels"
|
| 175 |
+
],
|
| 176 |
+
"info": {
|
| 177 |
+
"video.height": 480,
|
| 178 |
+
"video.width": 640,
|
| 179 |
+
"video.codec": "av1",
|
| 180 |
+
"video.pix_fmt": "yuv420p",
|
| 181 |
+
"video.fps": 30,
|
| 182 |
+
"video.channels": 3,
|
| 183 |
+
"has_audio": false,
|
| 184 |
+
"video.g": 2,
|
| 185 |
+
"video.crf": 30,
|
| 186 |
+
"video.preset": 12,
|
| 187 |
+
"video.fast_decode": 0,
|
| 188 |
+
"video.video_backend": "pyav",
|
| 189 |
+
"video.extra_options": {},
|
| 190 |
+
"is_depth_map": false
|
| 191 |
+
}
|
| 192 |
+
},
|
| 193 |
+
"observation.images.workspace_side": {
|
| 194 |
+
"dtype": "video",
|
| 195 |
+
"shape": [
|
| 196 |
+
480,
|
| 197 |
+
640,
|
| 198 |
+
3
|
| 199 |
+
],
|
| 200 |
+
"names": [
|
| 201 |
+
"height",
|
| 202 |
+
"width",
|
| 203 |
+
"channels"
|
| 204 |
+
],
|
| 205 |
+
"info": {
|
| 206 |
+
"video.height": 480,
|
| 207 |
+
"video.width": 640,
|
| 208 |
+
"video.codec": "av1",
|
| 209 |
+
"video.pix_fmt": "yuv420p",
|
| 210 |
+
"video.fps": 30,
|
| 211 |
+
"video.channels": 3,
|
| 212 |
+
"has_audio": false,
|
| 213 |
+
"video.g": 2,
|
| 214 |
+
"video.crf": 30,
|
| 215 |
+
"video.preset": 12,
|
| 216 |
+
"video.fast_decode": 0,
|
| 217 |
+
"video.video_backend": "pyav",
|
| 218 |
+
"video.extra_options": {},
|
| 219 |
+
"is_depth_map": false
|
| 220 |
+
}
|
| 221 |
+
},
|
| 222 |
+
"observation.images.workspace_front_depth": {
|
| 223 |
+
"dtype": "video",
|
| 224 |
+
"shape": [
|
| 225 |
+
480,
|
| 226 |
+
640,
|
| 227 |
+
1
|
| 228 |
+
],
|
| 229 |
+
"names": [
|
| 230 |
+
"height",
|
| 231 |
+
"width",
|
| 232 |
+
"channels"
|
| 233 |
+
],
|
| 234 |
+
"info": {
|
| 235 |
+
"is_depth_map": true,
|
| 236 |
+
"depth_unit": "mm",
|
| 237 |
+
"video.height": 480,
|
| 238 |
+
"video.width": 640,
|
| 239 |
+
"video.codec": "hevc",
|
| 240 |
+
"video.pix_fmt": "gray12le",
|
| 241 |
+
"video.fps": 30,
|
| 242 |
+
"video.channels": 1,
|
| 243 |
+
"has_audio": false,
|
| 244 |
+
"video.g": 2,
|
| 245 |
+
"video.crf": 30,
|
| 246 |
+
"video.preset": null,
|
| 247 |
+
"video.fast_decode": 0,
|
| 248 |
+
"video.video_backend": "pyav",
|
| 249 |
+
"video.extra_options": {
|
| 250 |
+
"x265-params": "lossless=1"
|
| 251 |
+
},
|
| 252 |
+
"video.depth_min": 0.05,
|
| 253 |
+
"video.depth_max": 2.0,
|
| 254 |
+
"video.shift": 3.5,
|
| 255 |
+
"video.use_log": true
|
| 256 |
+
}
|
| 257 |
+
},
|
| 258 |
+
"observation.images.workspace_side_depth": {
|
| 259 |
+
"dtype": "video",
|
| 260 |
+
"shape": [
|
| 261 |
+
480,
|
| 262 |
+
640,
|
| 263 |
+
1
|
| 264 |
+
],
|
| 265 |
+
"names": [
|
| 266 |
+
"height",
|
| 267 |
+
"width",
|
| 268 |
+
"channels"
|
| 269 |
+
],
|
| 270 |
+
"info": {
|
| 271 |
+
"is_depth_map": true,
|
| 272 |
+
"depth_unit": "mm",
|
| 273 |
+
"video.height": 480,
|
| 274 |
+
"video.width": 640,
|
| 275 |
+
"video.codec": "hevc",
|
| 276 |
+
"video.pix_fmt": "gray12le",
|
| 277 |
+
"video.fps": 30,
|
| 278 |
+
"video.channels": 1,
|
| 279 |
+
"has_audio": false,
|
| 280 |
+
"video.g": 2,
|
| 281 |
+
"video.crf": 30,
|
| 282 |
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| 283 |
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| 284 |
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| 285 |
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| 286 |
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| 287 |
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| 288 |
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| 289 |
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| 290 |
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| 291 |
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| 292 |
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}
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| 293 |
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},
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| 294 |
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| 295 |
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| 296 |
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| 298 |
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| 299 |
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| 300 |
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| 301 |
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| 303 |
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| 307 |
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| 308 |
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| 310 |
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| 314 |
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| 315 |
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| 317 |
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| 319 |
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| 320 |
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| 322 |
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| 337 |
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| 338 |
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| 341 |
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| 342 |
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}
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