crislmfroes/xarm6-sim-pose-cond-v3

--- 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). <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=crislmfroes/xarm6-sim-pose-cond-v3"> <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": "xarm6", "total_episodes": 300, "total_frames": 84249, "total_tasks": 6, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "fps": 30, "splits": { "train": "0:300" }, "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.images.wrist": { "dtype": "video", "shape": [ 256, 256, 3 ], "names": [ "height", "width", "channel" ], "video_info": { "video.fps": 30.0, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "has_audio": false }, "info": { "video.height": 256, "video.width": 256, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.top": { "dtype": "video", "shape": [ 256, 256, 3 ], "names": [ "height", "width", "channel" ], "video_info": { "video.fps": 30.0, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "has_audio": false }, "info": { "video.height": 256, "video.width": 256, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.state": { "dtype": "float32", "shape": [ 15 ], "names": [ "px", "py", "pz", "qw", "qx", "qy", "qz", "gripper", "obj_px", "obj_py", "obj_pz", "obj_qw", "obj_qx", "obj_qy", "obj_qz" ] }, "action": { "dtype": "float32", "shape": [ 7 ], "names": [ "x", "y", "z", "roll", "pitch", "yaw", "gripper" ] }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "timestamp": { "dtype": "float32", "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 配置项: - 配置名称: 默认 数据文件: 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=crislmfroes/xarm6-sim-pose-cond-v3"> <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:** [需要补充更多信息] - **论文:** [需要补充更多信息] - **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", "机器人类型": "xarm6", "总回合数": 300, "总帧数": 84249, "总任务数": 6, "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": "0:300" }, "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.图像.腕部": { "数据类型": "视频", "形状": [ 256, 256, 3 ], "字段名": [ "高度", "宽度", "通道数" ], "视频信息": { "视频.帧率": 30.0, "视频.编码格式": "h264", "视频.像素格式": "yuv420p", "视频.是否为深度图": false, "是否包含音频": false }, "补充信息": { "视频.高度": 256, "视频.宽度": 256, "视频.编码格式": "av1", "视频.像素格式": "yuv420p", "视频.是否为深度图": false, "视频.帧率": 30, "视频.通道数": 3, "是否包含音频": false } }, "观测.图像.顶部": { "数据类型": "视频", "形状": [ 256, 256, 3 ], "字段名": [ "高度", "宽度", "通道数" ], "视频信息": { "视频.帧率": 30.0, "视频.编码格式": "h264", "视频.像素格式": "yuv420p", "视频.是否为深度图": false, "是否包含音频": false }, "补充信息": { "视频.高度": 256, "视频.宽度": 256, "视频.编码格式": "av1", "视频.像素格式": "yuv420p", "视频.是否为深度图": false, "视频.帧率": 30, "视频.通道数": 3, "是否包含音频": false } }, "观测.状态": { "数据类型": "float32", "形状": [ 15 ], "字段名": [ "px", "py", "pz", "qw", "qx", "qy", "qz", "夹爪状态", "目标物体.px", "目标物体.py", "目标物体.pz", "目标物体.qw", "目标物体.qx", "目标物体.qy", "目标物体.qz" ] }, "动作": { "数据类型": "float32", "形状": [ 7 ], "字段名": [ "x", "y", "z", "横滚角", "俯仰角", "偏航角", "夹爪动作" ] }, "回合索引": { "数据类型": "int64", "形状": [ 1 ], "字段名": null }, "帧索引": { "数据类型": "int64", "形状": [ 1 ], "字段名": null }, "全局索引": { "数据类型": "int64", "形状": [ 1 ], "字段名": null }, "任务索引": { "数据类型": "int64", "形状": [ 1 ], "字段名": null }, "时间戳": { "数据类型": "float32", "形状": [ 1 ], "字段名": null } } } ## 引用 **BibTeX格式:** bibtex [需要补充更多信息]