jskim/sfp2nic_ge80_1

--- 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). ## 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_aic", "total_episodes": 62, "total_frames": 68390, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "fps": 30, "splits": { "train": "0:62" }, "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", "names": [ "linear.x", "linear.y", "linear.z", "angular.x", "angular.y", "angular.z" ], "shape": [ 6 ] }, "observation.state": { "dtype": "float32", "names": [ "tcp_pose.position.x", "tcp_pose.position.y", "tcp_pose.position.z", "tcp_pose.orientation.x", "tcp_pose.orientation.y", "tcp_pose.orientation.z", "tcp_pose.orientation.w", "tcp_velocity.linear.x", "tcp_velocity.linear.y", "tcp_velocity.linear.z", "tcp_velocity.angular.x", "tcp_velocity.angular.y", "tcp_velocity.angular.z", "tcp_error.x", "tcp_error.y", "tcp_error.z", "tcp_error.rx", "tcp_error.ry", "tcp_error.rz", "joint_positions.0", "joint_positions.1", "joint_positions.2", "joint_positions.3", "joint_positions.4", "joint_positions.5", "joint_positions.6", "wrist_wrench.force.x", "wrist_wrench.force.y", "wrist_wrench.force.z", "wrist_wrench.torque.x", "wrist_wrench.torque.y", "wrist_wrench.torque.z" ], "shape": [ 32 ] }, "observation.images.left_camera": { "dtype": "video", "shape": [ 256, 288, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 256, "video.width": 288, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.center_camera": { "dtype": "video", "shape": [ 256, 288, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 256, "video.width": 288, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.right_camera": { "dtype": "video", "shape": [ 256, 288, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 256, "video.width": 288, "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 } } } ``` ## 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。 ## 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`： json { "代码库版本": "v3.0", "机器人类型": "ur5e_aic", "总剧集数": 62, "总帧数": 68390, "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": "0:62" }, "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": { "动作（action）": { "数据类型": "float32", "维度名称": [ "linear.x", "linear.y", "linear.z", "angular.x", "angular.y", "angular.z" ], "形状": [ 6 ] }, "观测状态（observation.state）": { "数据类型": "float32", "维度名称": [ "tcp_pose.position.x", "tcp_pose.position.y", "tcp_pose.position.z", "tcp_pose.orientation.x", "tcp_pose.orientation.y", "tcp_pose.orientation.z", "tcp_pose.orientation.w", "tcp_velocity.linear.x", "tcp_velocity.linear.y", "tcp_velocity.linear.z", "tcp_velocity.angular.x", "tcp_velocity.angular.y", "tcp_velocity.angular.z", "tcp_error.x", "tcp_error.y", "tcp_error.z", "tcp_error.rx", "tcp_error.ry", "tcp_error.rz", "joint_positions.0", "joint_positions.1", "joint_positions.2", "joint_positions.3", "joint_positions.4", "joint_positions.5", "joint_positions.6", "wrist_wrench.force.x", "wrist_wrench.force.y", "wrist_wrench.force.z", "wrist_wrench.torque.x", "wrist_wrench.torque.y", "wrist_wrench.torque.z" ], "形状": [ 32 ] }, "观测图像.左摄像头（observation.images.left_camera）": { "数据类型": "video", "形状": [ 256, 288, 3 ], "维度名称": [ "高度", "宽度", "通道数" ], "详细信息": { "视频高度": 256, "视频宽度": 288, "视频编码格式": "av1", "视频像素格式": "yuv420p", "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.中心摄像头（observation.images.center_camera）": { "数据类型": "video", "形状": [ 256, 288, 3 ], "维度名称": [ "高度", "宽度", "通道数" ], "详细信息": { "视频高度": 256, "视频宽度": 288, "视频编码格式": "av1", "视频像素格式": "yuv420p", "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.右摄像头（observation.images.right_camera）": { "数据类型": "video", "形状": [ 256, 288, 3 ], "维度名称": [ "高度", "宽度", "通道数" ], "详细信息": { "视频高度": 256, "视频宽度": 288, "视频编码格式": "av1", "视频像素格式": "yuv420p", "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 } }, "时间戳（timestamp）": { "数据类型": "float32", "形状": [ 1 ], "维度名称": null }, "帧索引（frame_index）": { "数据类型": "int64", "形状": [ 1 ], "维度名称": null }, "剧集索引（episode_index）": { "数据类型": "int64", "形状": [ 1 ], "维度名称": null }, "全局索引（index）": { "数据类型": "int64", "形状": [ 1 ], "维度名称": null }, "任务索引（task_index）": { "数据类型": "int64", "形状": [ 1 ], "维度名称": null } } } ## 引用 **BibTeX格式：** bibtex [需补充更多信息]