DORLR/ur5_scripted_stacked_cuboid_insertion1

--- 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=DORLR/ur5_scripted_stacked_cuboid_insertion1"> <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": "isaaclab_ur5", "total_episodes": 10, "total_frames": 2043, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "fps": 30, "splits": { "train": "0:10" }, "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_joint", "shoulder_lift_joint", "elbow_joint", "wrist_1_joint", "wrist_2_joint", "wrist_3_joint", "finger_joint" ] }, "action": { "dtype": "float32", "shape": [ 7 ], "names": [ "shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint", "wrist_1_joint", "wrist_2_joint", "wrist_3_joint", "finger_joint" ] }, "observation.images.cam_side2": { "dtype": "video", "shape": [ 224, 224, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 224, "video.width": 224, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.cam_color": { "dtype": "video", "shape": [ 224, 224, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 224, "video.width": 224, "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。 <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=DORLR/ur5_scripted_stacked_cuboid_insertion1"> <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：** [暂未提供更多信息] - **论文：** [暂未提供更多信息] - **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": "isaaclab_ur5", "总任务轨迹数": 10, "总帧数": 2043, "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": "0:10" }, "数据文件路径": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", "视频文件路径": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", "特征项": { "观测.状态": { "数据类型": "float32", "形状": [7], "维度名称": [ "shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint", "wrist_1_joint", "wrist_2_joint", "wrist_3_joint", "finger_joint" ] }, "动作": { "数据类型": "float32", "形状": [7], "维度名称": [ "shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint", "wrist_1_joint", "wrist_2_joint", "wrist_3_joint", "finger_joint" ] }, "观测.图像.cam_side2": { "数据类型": "视频", "形状": [224, 224, 3], "维度名称": ["高度", "宽度", "通道数"], "详细信息": { "视频高度": 224, "视频宽度": 224, "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.cam_color": { "数据类型": "视频", "形状": [224, 224, 3], "维度名称": ["高度", "宽度", "通道数"], "详细信息": { "视频高度": 224, "视频宽度": 224, "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 } }, "时间戳": { "数据类型": "float32", "形状": [1], "维度名称": null }, "帧索引": { "数据类型": "int64", "形状": [1], "维度名称": null }, "轨迹段索引": { "数据类型": "int64", "形状": [1], "维度名称": null }, "全局索引": { "数据类型": "int64", "形状": [1], "维度名称": null }, "任务索引": { "数据类型": "int64", "形状": [1], "维度名称": null } } } ## 引用 **BibTeX 格式：** bibtex [暂未提供更多信息]