smerkd/bench_vortex_eppendorf_stereo_apr

--- 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=smerkd/bench_vortex_eppendorf_stereo_apr"> <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": 182, "total_frames": 83196, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "fps": 20, "splits": { "train": "0:182" }, "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", "shape": [ 7 ], "names": [ "x", "y", "z", "roll", "pitch", "yaw", "gripper" ] }, "observation.state": { "dtype": "float32", "shape": [ 13 ], "names": [ "x", "y", "z", "roll", "pitch", "yaw", "gripper", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6" ] }, "observation.images.right_zed_x_stereo": { "dtype": "video", "shape": [ 600, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 600, "video.width": 1920, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 20, "video.channels": 3, "has_audio": false } }, "observation.images.left_zed_x_stereo": { "dtype": "video", "shape": [ 600, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 600, "video.width": 1920, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 20, "video.channels": 3, "has_audio": false } }, "observation.images.front_zed_x_mini_stereo": { "dtype": "video", "shape": [ 600, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 600, "video.width": 1920, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 20, "video.channels": 3, "has_audio": false } }, "observation.images.gripper_zed_x_mini_stereo": { "dtype": "video", "shape": [ 600, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 600, "video.width": 1920, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 20, "video.channels": 3, "has_audio": false } }, "observation.images.front_lower_zed_x_mini_stereo": { "dtype": "video", "shape": [ 600, 1920, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 600, "video.width": 1920, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 20, "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] ```--- 许可协议：Apache 2.0 任务类别： - 机器人学 标签： - LeRobot 配置项： - 配置名称：default 数据文件路径：data/*/*.parquet --- 本数据集由[LeRobot](https://github.com/huggingface/lerobot)构建。 <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=smerkd/bench_vortex_eppendorf_stereo_apr"> <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] - **许可协议：** 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": "xarm6", "总轨迹数": 182, "总帧数": 83196, "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（FPS）": 20, "数据集划分": { "训练集": "0:182" }, "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", "特征字段": { "动作": { "数据类型": "float32", "形状": [ 7 ], "字段名": [ "x轴位移", "y轴位移", "z轴位移", "滚转角", "俯仰角", "偏航角", "夹爪开度" ] }, "观测.状态": { "数据类型": "float32", "形状": [ 13 ], "字段名": [ "x轴位移", "y轴位移", "z轴位移", "滚转角", "俯仰角", "偏航角", "夹爪开度", "关节1角度", "关节2角度", "关节3角度", "关节4角度", "关节5角度", "关节6角度" ] }, "观测图像.右ZED X立体相机": { "数据类型": "video", "形状": [ 600, 1920, 3 ], "字段名": [ "高度", "宽度", "通道数" ], "详细信息": { "视频高度": 600, "视频宽度": 1920, "视频编码格式": "h264", "像素格式": "yuv420p", "是否为深度图": false, "视频帧率": 20, "通道数": 3, "是否包含音频": false } }, "观测图像.左ZED X立体相机": { "数据类型": "video", "形状": [ 600, 1920, 3 ], "字段名": [ "高度", "宽度", "通道数" ], "详细信息": { "视频高度": 600, "视频宽度": 1920, "视频编码格式": "h264", "像素格式": "yuv420p", "是否为深度图": false, "视频帧率": 20, "通道数": 3, "是否包含音频": false } }, "观测图像.前ZED X Mini立体相机": { "数据类型": "video", "形状": [ 600, 1920, 3 ], "字段名": [ "高度", "宽度", "通道数" ], "详细信息": { "视频高度": 600, "视频宽度": 1920, "视频编码格式": "h264", "像素格式": "yuv420p", "是否为深度图": false, "视频帧率": 20, "通道数": 3, "是否包含音频": false } }, "观测图像.夹爪ZED X Mini立体相机": { "数据类型": "video", "形状": [ 600, 1920, 3 ], "字段名": [ "高度", "宽度", "通道数" ], "详细信息": { "视频高度": 600, "视频宽度": 1920, "视频编码格式": "h264", "像素格式": "yuv420p", "是否为深度图": false, "视频帧率": 20, "通道数": 3, "是否包含音频": false } }, "观测图像.前下ZED X Mini立体相机": { "数据类型": "video", "形状": [ 600, 1920, 3 ], "字段名": [ "高度", "宽度", "通道数" ], "详细信息": { "视频高度": 600, "视频宽度": 1920, "视频编码格式": "h264", "像素格式": "yuv420p", "是否为深度图": false, "视频帧率": 20, "通道数": 3, "是否包含音频": false } }, "时间戳": { "数据类型": "float32", "形状": [ 1 ], "字段名": null }, "帧索引": { "数据类型": "int64", "形状": [ 1 ], "字段名": null }, "轨迹索引": { "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 } } } ## 引用 **BibTeX格式：** bibtex [需补充更多信息]