kejia98/brush_table_franka
收藏Hugging Face2026-05-25 更新2026-05-31 收录
下载链接：
https://hf-mirror.com/datasets/kejia98/brush_table_franka
下载链接
链接失效反馈官方服务：
资源简介：
---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- franka
configs:
- config_name: default
data_files: data/*/*.parquet
---
This dataset was created using the local multimodal recorder exporter.
## Dataset Structure
`meta/info.json`:
```json
{
"codebase_version": "v2.1",
"robot_type": "franka",
"total_episodes": 30,
"total_frames": 11615,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 15,
"splits": {
"train": "0:30"
},
"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": {
"image": {
"dtype": "image",
"shape": [
240,
320,
3
],
"names": [
"height",
"width",
"channel"
]
},
"image_secondary": {
"dtype": "image",
"shape": [
240,
320,
3
],
"names": [
"height",
"width",
"channel"
]
},
"state": {
"dtype": "float32",
"shape": [
8
],
"names": [
"eef_x",
"eef_y",
"eef_z",
"eef_ax",
"eef_ay",
"eef_az",
"gripper_0",
"gripper_1"
]
},
"actions": {
"dtype": "float32",
"shape": [
7
],
"names": [
"eef_x",
"eef_y",
"eef_z",
"eef_ax",
"eef_ay",
"eef_az",
"gripper"
]
},
"franka_ee_pose_cmd_frame_id": {
"dtype": "string",
"shape": [
1
],
"names": null
},
"franka_gripper_width": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"franka_gripper_grasp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"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
}
}
}
```
提供机构：
kejia98
