yoohoolala/newdepth07

---
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": "so_follower",
"total_episodes": 1,
"total_frames": 76,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:1"
},
"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}.mkv",
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6
]
},
"observation.state": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6
]
},
"observation.images.intel": {
"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.fps": 30,
"video.channels": 3,
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.intel_depth": {
"dtype": "video",
"shape": [
480,
640,
1
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "ffv1",
"video.pix_fmt": "gray16le",
"video.fps": 30,
"video.channels": 1,
"video.is_depth_map": true,
"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]
```

license: apache-2.0
任务类别：
- 机器人学(robotics)
标签：
- LeRobot(LeRobot)
配置项：
- 配置名称：default
数据文件：data/*/*.parquet
---

本数据集依托[LeRobot(LeRobot)](https://github.com/huggingface/lerobot)工具链创建。

## 数据集说明
- **主页：** [需补充更多信息]
- **论文：** [需补充更多信息]
- **许可证：** Apache-2.0

## 数据集结构
[meta/info.json](meta/info.json):
json
{
"代码库版本(codebase_version)": "v3.0",
"机器人类型(robot_type)": "so_follower",
"总回合数(total_episodes)": 1,
"总帧数(total_frames)": 76,
"总任务数(total_tasks)": 1,
"分块大小(chunks_size)": 1000,
"数据文件总大小（MB）(data_files_size_in_mb)": 100,
"视频文件总大小（MB）(video_files_size_in_mb)": 200,
"帧率(fps)": 30,
"划分方式(splits)": {
"训练集(train)": "0:1"
},
"数据文件路径(data_path)": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"视频文件路径(video_path)": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mkv",
"数据特征(features)": {
"动作(action)": {
"数据类型(dtype)": "float32",
"维度名称(names)": [
"肩旋转关节位置(shoulder_pan.pos)",
"肩抬升关节位置(shoulder_lift.pos)",
"肘屈伸关节位置(elbow_flex.pos)",
"腕屈伸关节位置(wrist_flex.pos)",
"腕旋转关节位置(wrist_roll.pos)",
"夹爪位置(gripper.pos)"
],
"形状(shape)": [
6
]
},
"观测.状态(observation.state)": {
"数据类型(dtype)": "float32",
"维度名称(names)": [
"肩旋转关节位置(shoulder_pan.pos)",
"肩抬升关节位置(shoulder_lift.pos)",
"肘屈伸关节位置(elbow_flex.pos)",
"腕屈伸关节位置(wrist_flex.pos)",
"腕旋转关节位置(wrist_roll.pos)",
"夹爪位置(gripper.pos)"
],
"形状(shape)": [
6
]
},
"观测.图像.英特尔摄像头(observation.images.intel)": {
"数据类型(dtype)": "video",
"形状(shape)": [
480,
640,
3
],
"维度名称(names)": [
"高度(height)",
"宽度(width)",
"通道数(channels)"
],
"详细信息(info)": {
"视频高度(video.height)": 480,
"视频宽度(video.width)": 640,
"视频编码(video.codec)": "av1",
"视频像素格式(video.pix_fmt)": "yuv420p",
"视频帧率(video.fps)": 30,
"视频通道数(video.channels)": 3,
"是否为深度图(video.is_depth_map)": false,
"是否含音频(has_audio)": false
}
},
"观测.图像.英特尔深度摄像头(observation.images.intel_depth)": {
"数据类型(dtype)": "video",
"形状(shape)": [
480,
640,
1
],
"维度名称(names)": [
"高度(height)",
"宽度(width)",
"通道数(channels)"
],
"详细信息(info)": {
"视频高度(video.height)": 480,
"视频宽度(video.width)": 640,
"视频编码(video.codec)": "ffv1",
"视频像素格式(video.pix_fmt)": "gray16le",
"视频帧率(video.fps)": 30,
"视频通道数(video.channels)": 1,
"是否为深度图(video.is_depth_map)": true,
"是否含音频(has_audio)": false
}
},
"时间戳(timestamp)": {
"数据类型(dtype)": "float32",
"形状(shape)": [
1
],
"维度名称(names)": null
},
"帧索引(frame_index)": {
"数据类型(dtype)": "int64",
"形状(shape)": [
1
],
"维度名称(names)": null
},
"回合索引(episode_index)": {
"数据类型(dtype)": "int64",
"形状(shape)": [
1
],
"维度名称(names)": null
},
"全局索引(index)": {
"数据类型(dtype)": "int64",
"形状(shape)": [
1
],
"维度名称(names)": null
},
"任务索引(task_index)": {
"数据类型(dtype)": "int64",
"形状(shape)": [
1
],
"维度名称(names)": null
}
}
}

## 引用
**BibTeX格式：**
bibtex
[需补充更多信息]