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sortingroboticsinc
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fan_two_rows_grasp_collect_ibvs_axial174

Tasks:
Robotics
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10K - 100K
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LeRobot
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observation.state
listlengths
14
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observation.reticle
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listlengths
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frame_index
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episode_index
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index
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End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "grasp_picker",
    "total_episodes": 405,
    "total_frames": 67874,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 20,
    "splits": {
        "train": "0:405"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 20,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": [
                "ee_x_mm",
                "ee_y_mm",
                "ee_z_mm",
                "ee_rx_rad",
                "ee_ry_rad",
                "ee_rz_rad",
                "gripper_pwm",
                "axial_dist_mm",
                "acv_dx_mm",
                "acv_dy_mm",
                "acv_dz_mm",
                "acv_drx_rad",
                "acv_dry_rad",
                "acv_drz_rad"
            ]
        },
        "observation.reticle": {
            "dtype": "float32",
            "shape": [
                2
            ],
            "names": [
                "reticle_u_norm",
                "reticle_v_norm"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": [
                "dx_mm",
                "dy_mm",
                "dz_mm",
                "drx_rad",
                "dry_rad",
                "drz_rad",
                "dgripper"
            ]
        },
        "outcome": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "outcome_code"
            ]
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
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            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
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                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        }
    }
}

Citation

BibTeX:

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