LSY-lab/stack_cake_v2_absolute_actions
This dataset was created using LeRobot. Dataset Structure meta/info.json: { "codebase_version": "v2.1", "robot_type": null, "total_episodes": 101, "total_frames": 23884, "total_tasks": 1, "total_videos": 303, "total_chunks": 1, "chunks_size": 1000, "fps": 15, "splits": { "train": "0:101" }, "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", "video_path":… See the full description on the dataset page: https://huggingface.co/datasets/LSY-lab/stack_cake_v2_absolute_actions.
0122
1{2 "crisp_gym_version": "4.0.0",3 "crisp_py_version": "3.0.0",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 0.79742644524 ],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 "use_prefix": false42 },43 "gripper_config": {44 "min_value": 1046.0,45 "max_value": 2065.0,46 "command_topic": "/left/gripper/dynamixel_motor/command",47 "joint_state_topic": "/left/gripper/dynamixel_motor/joint_states",48 "reboot_service": "reboot_gripper",49 "enable_torque_service": "/left/gripper/dynamixel_motor/set_torque",50 "index": 0,51 "publish_frequency": 30.0,52 "max_joint_delay": 1.0,53 "max_delta": 0.154 },55 "camera_config": [56 {57 "camera_color_image_topic": "left_third_person_camera/image_raw",58 "camera_color_info_topic": "left_third_person_camera/camera_info",59 "camera_name": "primary",60 "camera_frame": "primary_link",61 "max_image_delay": 1.0,62 "resolution": [63 256,64 25665 ],66 "crop_width": null,67 "crop_height": null68 },69 {70 "camera_color_image_topic": "left_wrist_camera/color/image_rect_raw",71 "camera_color_info_topic": "left_wrist_camera/color/camera_info",72 "camera_name": "wrist",73 "camera_frame": "wrist_link",74 "max_image_delay": 1.0,75 "resolution": [76 256,77 25678 ],79 "crop_width": null,80 "crop_height": null81 },82 {83 "camera_color_image_topic": "anyskin/image_raw",84 "camera_color_info_topic": "anyskin/camera_info",85 "camera_name": "tactile",86 "camera_frame": "tactile_link",87 "max_image_delay": 1.0,88 "resolution": [89 256,90 25691 ],92 "crop_width": null,93 "crop_height": null94 }95 ],96 "sensor_config": [97 {98 "shape": [99 15100 ],101 "sensor_type": "float32_array",102 "name": "tactile_sensor",103 "data_topic": "/left/anyskin/tactile_data",104 "max_data_delay": 1.0,105 "buffer_size": null,106 "reset_service": "/left/anyskin/reset"107 },108 {109 "shape": [110 6111 ],112 "sensor_type": "force_torque",113 "name": "ft_sensor",114 "data_topic": "/left/external_wrench",115 "max_data_delay": 1.0,116 "buffer_size": null,117 "reset_service": null118 }119 ],120 "gripper_mode": "GripperMode.ABSOLUTE_CONTINUOUS",121 "gripper_threshold": 0.1,122 "cartesian_control_param_config": "None",123 "joint_control_param_config": "None",124 "use_relative_actions": false125 }126}127