zhuoKCL/uniforce_peginhole_gs_tip

--- license: apache-2.0 task_categories: - robotics tags: - LeRobot - tactile - franka - uniforce - lerobot - force 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": "v2.1", "robot_type": "panda", "total_episodes": 60, "total_frames": 9827, "total_tasks": 8, "total_videos": 0, "total_chunks": 1, "chunks_size": 1000, "fps": 15, "splits": { "train": "0:60" }, "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", "features": { "exterior_image_1_left": { "dtype": "image", "shape": [ 180, 320, 3 ] }, "exterior_image_2_left": { "dtype": "image", "shape": [ 180, 320, 3 ] }, "wrist_image_left": { "dtype": "image", "shape": [ 180, 320, 3 ] }, "gelsight_embedding_right": { "dtype": "float32", "shape": [ 1176 ] }, "tactip_embedding_right": { "dtype": "float32", "shape": [ 1176 ] }, "joint_position": { "dtype": "float32", "shape": [ 7 ] }, "gripper_position": { "dtype": "float32", "shape": [ 1 ] }, "actions": { "dtype": "float32", "shape": [ 8 ] }, "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 - 触觉 - Franka - uniforce - lerobot - 力 配置项： - 配置名称：default 数据文件：data/*/*.parquet 本数据集基于[LeRobot（LeRobot）](https://github.com/huggingface/lerobot)开发。 ## 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](meta/info.json): json { "代码库版本": "v2.1", "机器人类型": "panda", "总回合数": 60, "总帧数": 9827, "总任务数": 8, "总视频数": 0, "总数据块数": 1, "数据块大小": 1000, "帧率": 15, "数据集划分": { "训练集": "0:60" }, "数据路径": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", "视频路径": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", "数据特征": { "左侧外部相机1图像": { "数据类型": "图像", "形状": [ 180, 320, 3 ] }, "左侧外部相机2图像": { "数据类型": "图像", "形状": [ 180, 320, 3 ] }, "左侧腕部相机图像": { "数据类型": "图像", "形状": [ 180, 320, 3 ] }, "右侧Gelsight触觉嵌入特征": { "数据类型": "float32", "形状": [ 1176 ] }, "右侧触觉指尖嵌入特征": { "数据类型": "float32", "形状": [ 1176 ] }, "关节位置": { "数据类型": "float32", "形状": [ 7 ] }, "夹爪位置": { "数据类型": "float32", "形状": [ 1 ] }, "动作指令": { "数据类型": "float32", "形状": [ 8 ] }, "时间戳": { "数据类型": "float32", "形状": [ 1 ], "命名字段": null }, "帧索引": { "数据类型": "int64", "形状": [ 1 ], "命名字段": null }, "回合索引": { "数据类型": "int64", "形状": [ 1 ], "命名字段": null }, "全局索引": { "数据类型": "int64", "形状": [ 1 ], "命名字段": null }, "任务索引": { "数据类型": "int64", "形状": [ 1 ], "命名字段": null } } } ## 引用 **BibTeX格式**： bibtex [需补充更多信息]