IXDLI/WRM_grasp_cylinder_different_sizes_lero_recollect_gray_tightness
This dataset was created using LeRobot. Dataset Description Gray-object recollection of RealMan WRM grasp-cylinder-different-sizes demonstrations with synchronized 16-bit Beaver tactile maps and per-frame tightness labels (125/125 episodes annotated). Homepage: [More Information Needed] Paper: [More Information Needed] License: apache-2.0 Dataset Structure meta/info.json: { "chunks_size": 1000, "codebase_version": "v3.0"… See the full description on the dataset page: https://huggingface.co/datasets/IXDLI/WRM_grasp_cylinder_different_sizes_lero_recollect_gray_tightness.
This dataset was created using LeRobot.
<a class="flex" href="https://huggingface.co/spaces/lerobot/visualizedataset?path=IXDLI/WRMgraspcylinderdifferentsizeslerorecollectgray_tightness"> <img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/> <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/> </a>
Dataset Description
Gray-object recollection of RealMan WRM grasp-cylinder-different-sizes demonstrations with synchronized 16-bit Beaver tactile maps and per-frame tightness labels (125/125 episodes annotated).
- Homepage: [More Information Needed]
- Paper: [More Information Needed]
- License: apache-2.0
Dataset Structure
meta/info.json:
{
"chunks_size": 1000,
"codebase_version": "v3.0",
"data_files_size_in_mb": 100,
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"features": {
"action": {
"dtype": "float32",
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6"
],
"shape": [
7
]
},
"episode_index": {
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"names": null,
"shape": [
1
]
},
"extra.tcp_pose": {
"dtype": "float32",
"names": [
"qx",
"qy",
"qz",
"qw",
"x",
"y",
"z"
],
"shape": [
7
]
},
"extra.timestamps_ns": {
"dtype": "int64",
"names": [
"collect",
"robot_state",
"robot_action",
"vr_input",
"tactile",
"beaver",
"camera_0"
],
"shape": [
7
]
},
"frame_index": {
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"names": null,
"shape": [
1
]
},
"index": {
"dtype": "int64",
"names": null,
"shape": [
1
]
},
"observation.beaver.distance_mm": {
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"names": [
"sensor",
"row",
"column"
],
"shape": [
9,
4,
4
]
},
"observation.beaver.present": {
"dtype": "float32",
"names": [
"sensor"
],
"shape": [
9
]
},
"observation.beaver.target_status": {
"dtype": "float32",
"names": [
"sensor",
"row",
"column"
],
"shape": [
9,
4,
4
]
},
"observation.force": {
"dtype": "float32",
"names": [
"Fx",
"Fy",
"Fz"
],
"shape": [
3
]
},
"observation.images.camera_0": {
"dtype": "video",
"info": {
"has_audio": false,
"video.channels": 3,
"video.codec": "h264",
"video.fps": 24,
"video.height": 480,
"video.is_depth_map": false,
"video.pix_fmt": "yuv420p",
"video.width": 640
},
"names": [
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"channel"
],
"shape": [
480,
640,
3
]
},
"observation.state": {
"dtype": "float32",
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6"
],
"shape": [
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]
},
"observation.torque": {
"dtype": "float32",
"names": [
"Tx",
"Ty",
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],
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]
},
"task_index": {
"dtype": "int64",
"names": null,
"shape": [
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},
"tightness": {
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"names": null,
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]
},
"timestamp": {
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"names": null,
"shape": [
1
]
}
},
"fps": 24,
"robot_type": "realman",
"splits": {
"train": "0:125"
},
"total_episodes": 125,
"total_frames": 40655,
"total_tasks": 1,
"video_files_size_in_mb": 200,
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4"
}Citation
BibTeX:
[More Information Needed]