LPSlvlv/ur5_mixed_51_smooth

--- license: apache-2.0 task_categories: - robotics tags: - LeRobot - ur5 - ur5e - smooth-gripper 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=LPSlvlv/ur5_mixed_51_smooth"> <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": "ur5e", "total_episodes": 51, "total_frames": 41160, "total_tasks": 2, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "fps": 10, "splits": { "train": "0:51" }, "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": { "image": { "dtype": "image", "shape": [ 256, 256, 3 ], "names": [ "height", "width", "channel" ] }, "wrist_image": { "dtype": "image", "shape": [ 256, 256, 3 ], "names": [ "height", "width", "channel" ] }, "joints": { "dtype": "float32", "shape": [ 6 ], "names": [ "joints" ] }, "gripper": { "dtype": "float32", "shape": [ 1 ], "names": [ "gripper" ] }, "state": { "dtype": "float32", "shape": [ 7 ], "names": [ "state" ] }, "actions": { "dtype": "float32", "shape": [ 7 ], "names": [ "actions" ] }, "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 标签： - LeRobot - ur5 - ur5e - smooth-gripper 配置项： - 配置名称：default 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=LPSlvlv/ur5_mixed_51_smooth"> <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：** [待补充更多信息] - **论文：** [待补充更多信息] - **许可证：** apache-2.0 ## 数据集结构 文件[meta/info.json]包含数据集元信息，具体内容如下： json { "codebase_version": "v3.0", "robot_type": "ur5e", "total_episodes": 51, "total_frames": 41160, "total_tasks": 2, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "fps": 10, "splits": { "train": "0:51" }, "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": { "image": { "dtype": "image", "shape": [ 256, 256, 3 ], "names": [ "高度", "宽度", "通道数" ] }, "wrist_image": { "dtype": "image", "shape": [ 256, 256, 3 ], "names": [ "高度", "宽度", "通道数" ] }, "joints": { "dtype": "float32", "shape": [ 6 ], "names": [ "关节角度" ] }, "gripper": { "dtype": "float32", "shape": [ 1 ], "names": [ "夹爪开度" ] }, "state": { "dtype": "float32", "shape": [ 7 ], "names": [ "机器人末端位姿" ] }, "actions": { "dtype": "float32", "shape": [ 7 ], "names": [ "机器人动作指令" ] }, "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 } } } ## 引用说明 **BibTeX格式引用：** bibtex [待补充更多信息]