jskim/sft2nic_simtime
收藏Hugging Face2026-04-04 更新2026-04-12 收录
下载链接：
https://hf-mirror.com/datasets/jskim/sft2nic_simtime
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资源简介：
---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
configs:
- config_name: default
data_files: data/*/*.parquet
---
This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
## Dataset Description
- **Homepage:** [More Information Needed]
- **Paper:** [More Information Needed]
- **License:** apache-2.0
## Dataset Structure
[meta/info.json](meta/info.json):
```json
{
"codebase_version": "v3.0",
"robot_type": "ur5e_aic",
"total_episodes": 10,
"total_frames": 22176,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:10"
},
"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": {
"action": {
"dtype": "float32",
"names": [
"linear.x",
"linear.y",
"linear.z",
"angular.x",
"angular.y",
"angular.z"
],
"shape": [
6
]
},
"observation.state": {
"dtype": "float32",
"names": [
"tcp_pose.position.x",
"tcp_pose.position.y",
"tcp_pose.position.z",
"tcp_pose.orientation.x",
"tcp_pose.orientation.y",
"tcp_pose.orientation.z",
"tcp_pose.orientation.w",
"tcp_velocity.linear.x",
"tcp_velocity.linear.y",
"tcp_velocity.linear.z",
"tcp_velocity.angular.x",
"tcp_velocity.angular.y",
"tcp_velocity.angular.z",
"tcp_error.x",
"tcp_error.y",
"tcp_error.z",
"tcp_error.rx",
"tcp_error.ry",
"tcp_error.rz",
"joint_positions.0",
"joint_positions.1",
"joint_positions.2",
"joint_positions.3",
"joint_positions.4",
"joint_positions.5",
"joint_positions.6",
"wrist_wrench.force.x",
"wrist_wrench.force.y",
"wrist_wrench.force.z",
"wrist_wrench.torque.x",
"wrist_wrench.torque.y",
"wrist_wrench.torque.z"
],
"shape": [
32
]
},
"observation.images.left_camera": {
"dtype": "video",
"shape": [
256,
288,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 256,
"video.width": 288,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.center_camera": {
"dtype": "video",
"shape": [
256,
288,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 256,
"video.width": 288,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.right_camera": {
"dtype": "video",
"shape": [
256,
288,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 256,
"video.width": 288,
"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:**
```bibtex
[More Information Needed]
```
许可证: Apache-2.0
任务类别:
- 机器人学
标签:
- LeRobot
配置:
- 配置名称: default
数据文件: data/*/*.parquet
本数据集基于LeRobot (LeRobot) 构建。
## 数据集描述
- **主页**: [暂未提供更多信息]
- **论文**: [暂未提供更多信息]
- **许可证**: Apache-2.0
## 数据集结构
`meta/info.json`:
json
{
"代码库版本": "v3.0",
"机器人型号": "ur5e_aic",
"总回合数": 10,
"总帧数": 22176,
"总任务数": 1,
"块大小": 1000,
"数据文件总大小（MB）": 100,
"视频文件总大小（MB）": 200,
"帧率": 30,
"数据划分": {
"训练集": "0:10"
},
"数据路径格式": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"视频路径格式": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"数据特征": {
"动作": {
"数据类型": "float32",
"维度名称": [
"linear.x",
"linear.y",
"linear.z",
"angular.x",
"angular.y",
"angular.z"
],
"形状": [6]
},
"观测.状态": {
"数据类型": "float32",
"维度名称": [
"工具中心点（TCP）位置.x",
"工具中心点（TCP）位置.y",
"工具中心点（TCP）位置.z",
"工具中心点（TCP）姿态四元数.x",
"工具中心点（TCP）姿态四元数.y",
"工具中心点（TCP）姿态四元数.z",
"工具中心点（TCP）姿态四元数.w",
"工具中心点（TCP）线速度.x",
"工具中心点（TCP）线速度.y",
"工具中心点（TCP）线速度.z",
"工具中心点（TCP）角速度.x",
"工具中心点（TCP）角速度.y",
"工具中心点（TCP）角速度.z",
"工具中心点（TCP）位置误差.x",
"工具中心点（TCP）位置误差.y",
"工具中心点（TCP）位置误差.z",
"工具中心点（TCP）姿态误差.rx",
"工具中心点（TCP）姿态误差.ry",
"工具中心点（TCP）姿态误差.rz",
"关节位置.0",
"关节位置.1",
"关节位置.2",
"关节位置.3",
"关节位置.4",
"关节位置.5",
"关节位置.6",
"腕部力矩.力.x",
"腕部力矩.力.y",
"腕部力矩.力.z",
"腕部力矩.扭矩.x",
"腕部力矩.扭矩.y",
"腕部力矩.扭矩.z"
],
"形状": [32]
},
"观测.图像.左摄像头": {
"数据类型": "视频",
"形状": [256, 288, 3],
"维度名称": [
"高度",
"宽度",
"通道数"
],
"详细信息": {
"视频高度": 256,
"视频宽度": 288,
"视频编码": "av1",
"像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 30,
"通道数": 3,
"是否包含音频": false
}
},
"观测.图像.中央摄像头": {
"数据类型": "视频",
"形状": [256, 288, 3],
"维度名称": [
"高度",
"宽度",
"通道数"
],
"详细信息": {
"视频高度": 256,
"视频宽度": 288,
"视频编码": "av1",
"像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 30,
"通道数": 3,
"是否包含音频": false
}
},
"观测.图像.右摄像头": {
"数据类型": "视频",
"形状": [256, 288, 3],
"维度名称": [
"高度",
"宽度",
"通道数"
],
"详细信息": {
"视频高度": 256,
"视频宽度": 288,
"视频编码": "av1",
"像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 30,
"通道数": 3,
"是否包含音频": false
}
},
"时间戳": {
"数据类型": "float32",
"形状": [1],
"维度名称": null
},
"帧索引": {
"数据类型": "int64",
"形状": [1],
"维度名称": null
},
"回合索引": {
"数据类型": "int64",
"形状": [1],
"维度名称": null
},
"全局索引": {
"数据类型": "int64",
"形状": [1],
"维度名称": null
},
"任务索引": {
"数据类型": "int64",
"形状": [1],
"维度名称": null
}
}
}
## 引用
**BibTeX格式**：
bibtex
[暂未提供更多信息]
提供机构：
jskim
