lj0808/pushT-ur5e-mujoco
收藏Hugging Face2026-03-19 更新2026-03-29 收录
下载链接：
https://hf-mirror.com/datasets/lj0808/pushT-ur5e-mujoco
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资源简介：
---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot-pushT
configs:
- config_name: default
data_files: data/*/*.parquet
language:
- zh
pretty_name: pushT-ur5e-mujoco
---
This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=lj0808/pushT-ur5e-mujoco">
<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
- **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": "mujoco_ur5e_pusht",
"total_episodes": 200,
"total_frames": 189079,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:200"
},
"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",
"shape": [
6
],
"names": [
"dx",
"dy",
"dz",
"droll",
"dpitch",
"dyaw"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
13{
"observation.images.cam_side": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.state": {
"dtype": "float32",
"shape": [
5
],
"names": [
"Rotation",
"Pitch",
"Elbow",
"Wrist_Pitch",
"Wrist_Roll"
]
},
"action": {
"dtype": "float32",
"shape": [
2
],
"names": [
"mocap_x",
"mocap_y"
]
},
"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
}
}
}
],
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"ee_pos_x",
"ee_pos_y",
"ee_pos_z",
"ee_quat_w",
"ee_quat_x",
"ee_quat_y",
"ee_quat_z"
]
},
"observation.images.top_camera": {
"dtype": "video",
"shape": [
480,
480,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 480,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.side_camera": {
"dtype": "video",
"shape": [
480,
480,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 480,
"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
}
},
"repo_id": "local/lerobot_record_dualcam_merged_200ep_v2"
}
```
## Citation
**BibTeX:**
```bibtex
[More Information Needed]
```
提供机构：
lj0808
