skkuprism/UR7e-put_down_marker_in_bottle

--- license: apache-2.0 task_categories: - robotics tags: - LeRobot - LeRobot - robotics - ur7e - code-as-policies - marker-in-bottle configs: - config_name: default data_files: data/*/*.parquet --- This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=skkuprism/ur7e_marker_in_bottle_reset"> <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": "ur7e", "total_episodes": 35, "total_frames": 43106, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "fps": 30, "splits": { "train": "0:35" }, "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": { "observation.state": { "dtype": "float32", "shape": [ 7 ], "names": [ "shoulder_pan.pos", "shoulder_lift.pos", "elbow.pos", "wrist_1.pos", "wrist_2.pos", "wrist_3.pos", "gripper.pos" ] }, "action": { "dtype": "float32", "shape": [ 7 ], "names": [ "shoulder_pan.pos", "shoulder_lift.pos", "elbow.pos", "wrist_1.pos", "wrist_2.pos", "wrist_3.pos", "gripper.pos" ] }, "observation.images.realsense_topview": { "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.realsense_wrist": { "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 } }, "skill.type": { "dtype": "string", "shape": [ 1 ], "names": null }, "skill.progress": { "dtype": "float32", "shape": [ 1 ], "names": null }, "skill.goal_position.joint": { "dtype": "float32", "shape": [ 7 ], "names": [ "shoulder_pan.pos", "shoulder_lift.pos", "elbow.pos", "wrist_1.pos", "wrist_2.pos", "wrist_3.pos", "gripper.pos" ] }, "skill.goal_position.world_xyzrpy": { "dtype": "float32", "shape": [ 6 ], "names": [ "x", "y", "z", "roll", "pitch", "yaw" ] }, "skill.goal_position.robot_xyzrpy": { "dtype": "float32", "shape": [ 6 ], "names": [ "x", "y", "z", "roll", "pitch", "yaw" ] }, "skill.goal_position.gripper": { "dtype": "float32", "shape": [ 1 ], "names": [ "gripper.pos" ] }, "skill.natural_language": { "dtype": "string", "shape": [ 1 ], "names": null }, "observation.ee_pos.robot_xyzrpy": { "dtype": "float32", "shape": [ 6 ], "names": [ "x", "y", "z", "roll", "pitch", "yaw" ] }, "observation.gripper_binary": { "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 } } } ``` ## Citation **BibTeX:** ```bibtex [More Information Needed] ```--- 许可证：Apache-2.0 任务类别： - 机器人学 标签： - LeRobot - LeRobot - 机器人学 - ur7e - 策略代码化 - 瓶中标记任务 配置项： - 配置名称：default 数据文件路径：data/*/*.parquet --- 本数据集基于[LeRobot](https://github.com/huggingface/lerobot)构建。 <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=skkuprism/ur7e_marker_in_bottle_reset"> <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> ## 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": "v3.0", "机器人型号": "ur7e", "总回合数": 35, "总帧数": 43106, "总任务数": 1, "分块大小": 1000, "数据文件总大小（MB）": 100, "视频文件总大小（MB）": 200, "帧率": 30, "数据集划分": { "训练集": "0:35" }, "数据文件路径格式": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", "视频文件路径格式": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", "数据特征": { "观测.关节状态": { "数据类型": "float32", "维度": [7], "字段名称": [ "肩盘关节位置", "肩升关节位置", "肘关节位置", "腕关节1位置", "腕关节2位置", "腕关节3位置", "夹爪位置" ] }, "动作": { "数据类型": "float32", "维度": [7], "字段名称": [ "肩盘关节位置", "肩升关节位置", "肘关节位置", "腕关节1位置", "腕关节2位置", "腕关节3位置", "夹爪位置" ] }, "观测.图像.实感顶视摄像头": { "数据类型": "video", "维度": [480, 640, 3], "维度名称": [ "高度", "宽度", "通道数" ], "详细信息": { "视频高度": 480, "视频宽度": 640, "视频编码格式": "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.实感腕部摄像头": { "数据类型": "video", "维度": [480, 640, 3], "维度名称": [ "高度", "宽度", "通道数" ], "详细信息": { "视频高度": 480, "视频宽度": 640, "视频编码格式": "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 } }, "技能.类型": { "数据类型": "string", "维度": [1] }, "技能.进度": { "数据类型": "float32", "维度": [1] }, "技能.目标位置.关节空间": { "数据类型": "float32", "维度": [7], "字段名称": [ "肩盘关节位置", "肩升关节位置", "肘关节位置", "腕关节1位置", "腕关节2位置", "腕关节3位置", "夹爪位置" ] }, "技能.目标位置.世界坐标系xyzrpy": { "数据类型": "float32", "维度": [6], "字段名称": [ "X轴位置", "Y轴位置", "Z轴位置", "滚转角", "俯仰角", "偏航角" ] }, "技能.目标位置.机器人坐标系xyzrpy": { "数据类型": "float32", "维度": [6], "字段名称": [ "X轴位置", "Y轴位置", "Z轴位置", "滚转角", "俯仰角", "偏航角" ] }, "技能.目标位置.夹爪": { "数据类型": "float32", "维度": [1], "字段名称": ["夹爪位置"] }, "技能.自然语言描述": { "数据类型": "string", "维度": [1] }, "观测.末端执行器位姿.机器人坐标系xyzrpy": { "数据类型": "float32", "维度": [6], "字段名称": [ "X轴位置", "Y轴位置", "Z轴位置", "滚转角", "俯仰角", "偏航角" ] }, "观测.夹爪二进制状态": { "数据类型": "float32", "维度": [1] }, "时间戳": { "数据类型": "float32", "维度": [1] }, "帧索引": { "数据类型": "int64", "维度": [1] }, "回合索引": { "数据类型": "int64", "维度": [1] }, "全局索引": { "数据类型": "int64", "维度": [1] }, "任务索引": { "数据类型": "int64", "维度": [1] } } } ## 引用 **BibTeX格式引用：** bibtex [需补充更多信息]