griffinlabs-cortexai/07022026-afternoon
This dataset was created using LeRobot. Dataset Description Trash Items: CRUSHED_TISSUE_PAPER, TOILET_PAPER_ROLL, CRUSHED_CAN, WHOLE_CAN, PLASTIC_CUP. Non-trash items : 1 DETTOL, 1 AIR_FRESHNER, Variation Set_B009 : PAGE 10 to 39 Reject episode: 2-29 (left arm joint data not recorded) Sink #1 , rectangle sink 3 cameras (top, right, left) Dataset Structure meta/info.json: { "codebase_version": "v2.1", "robot_type": "bi_piper", "total_episodes": 9… See the full description on the dataset page: https://huggingface.co/datasets/griffinlabs-cortexai/07022026-afternoon.
This dataset was created using LeRobot.
Dataset Description
Trash Items: CRUSHEDTISSUEPAPER, TOILETPAPERROLL, CRUSHEDCAN, WHOLECAN, PLASTICCUP. Non-trash items : 1 DETTOL, 1 AIRFRESHNER, Variation Set_B009 : PAGE 10 to 39 Reject episode: 2-29 (left arm joint data not recorded)
Sink #1 , rectangle sink
3 cameras (top, right, left)
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "bi_piper",
"total_episodes": 9,
"total_frames": 17824,
"total_tasks": 1,
"total_videos": 27,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:9"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
"action": {
"dtype": "float32",
"shape": [
14
],
"names": [
"left_joint_1.pos",
"left_joint_2.pos",
"left_joint_3.pos",
"left_joint_4.pos",
"left_joint_5.pos",
"left_joint_6.pos",
"left_gripper.pos",
"right_joint_1.pos",
"right_joint_2.pos",
"right_joint_3.pos",
"right_joint_4.pos",
"right_joint_5.pos",
"right_joint_6.pos",
"right_gripper.pos"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
14
],
"names": [
"left_joint_1.pos",
"left_joint_2.pos",
"left_joint_3.pos",
"left_joint_4.pos",
"left_joint_5.pos",
"left_joint_6.pos",
"left_gripper.pos",
"right_joint_1.pos",
"right_joint_2.pos",
"right_joint_3.pos",
"right_joint_4.pos",
"right_joint_5.pos",
"right_joint_6.pos",
"right_gripper.pos"
]
},
"observation.images.top": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.right": {
"dtype": "video",
"shape": [
240,
424,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 240,
"video.width": 424,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.left": {
"dtype": "video",
"shape": [
240,
424,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 240,
"video.width": 424,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}Citation
BibTeX:
[More Information Needed]