Helium-bre/drill_play_franka_franka_umi_tacticle

--- 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=Helium-bre/drill_play_franka_franka_umi_tacticle"> <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": null, "total_episodes": 32, "total_frames": 16000, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "fps": 10, "splits": { "train": "0:32" }, "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": { "obs.state.gripper.grasp_tip_pos": { "dtype": "float32", "shape": [ 6 ] }, "obs.state.gripper.pinch_min": { "dtype": "float32", "shape": [ 1 ] }, "obs.state.gripper.pinch_widths": { "dtype": "float32", "shape": [ 1 ] }, "obs.state.gripper.qpos": { "dtype": "float32", "shape": [ 2 ] }, "obs.state.gripper.qtorque": { "dtype": "float32", "shape": [ 2 ] }, "obs.state.gripper.qvel": { "dtype": "float32", "shape": [ 2 ] }, "obs.state.gripper.tactile.left_elastomer.contact": { "dtype": "float32", "shape": [ 1 ] }, "obs.state.gripper.tactile.left_elastomer.force": { "dtype": "float32", "shape": [ 3 ] }, "obs.state.gripper.tactile.left_elastomer.force_grid": { "dtype": "float32", "shape": [ 12, 32 ] }, "obs.state.gripper.tactile.left_elastomer.force_grid_norm": { "dtype": "float32", "shape": [ 12, 32 ] }, "obs.state.gripper.tactile.left_elastomer.force_norm": { "dtype": "float32", "shape": [ 1 ] }, "obs.state.gripper.tactile.left_elastomer.points": { "dtype": "float32", "shape": [ 384, 4 ] }, "obs.state.gripper.tactile.left_elastomer.points_raw": { "dtype": "float32", "shape": [ 384, 4 ] }, "obs.state.gripper.tactile.left_elastomer.pos": { "dtype": "float32", "shape": [ 3 ] }, "obs.state.gripper.tactile.left_elastomer.quat": { "dtype": "float32", "shape": [ 4 ] }, "reward": { "dtype": "float32", "shape": [ 1 ] }, "truncated": { "dtype": "bool", "shape": [ 1 ] }, "success": { "dtype": "bool", "shape": [ 1 ] }, "failure": { "dtype": "bool", "shape": [ 1 ] }, "action": { "dtype": "float32", "shape": [ 8 ] }, "obs.state.gripper.tactile.right_elastomer.contact": { "dtype": "float32", "shape": [ 1 ] }, "obs.state.gripper.tactile.right_elastomer.force": { "dtype": "float32", "shape": [ 3 ] }, "obs.state.gripper.tactile.right_elastomer.force_grid": { "dtype": "float32", "shape": [ 12, 32 ] }, "obs.state.gripper.tactile.right_elastomer.force_grid_norm": { "dtype": "float32", "shape": [ 12, 32 ] }, "obs.state.gripper.tactile.right_elastomer.force_norm": { "dtype": "float32", "shape": [ 1 ] }, "obs.state.gripper.tactile.right_elastomer.points": { "dtype": "float32", "shape": [ 384, 4 ] }, "obs.state.gripper.tactile.right_elastomer.points_raw": { "dtype": "float32", "shape": [ 384, 4 ] }, "obs.state.gripper.tactile.right_elastomer.pos": { "dtype": "float32", "shape": [ 3 ] }, "obs.state.gripper.tactile.right_elastomer.quat": { "dtype": "float32", "shape": [ 4 ] }, "obs.state.gripper.tactile.tactile_points": { "dtype": "float32", "shape": [ 768, 4 ] }, "obs.state.gripper.tactile.tactile_points_raw": { "dtype": "float32", "shape": [ 768, 4 ] }, "obs.state.gripper.tcp_pos": { "dtype": "float32", "shape": [ 3 ] }, "obs.state.gripper.tcp_quat": { "dtype": "float32", "shape": [ 4 ] }, "obs.state.manipulator.eef_pos": { "dtype": "float32", "shape": [ 1, 3 ] }, "obs.state.manipulator.eef_quat": { "dtype": "float32", "shape": [ 1, 4 ] }, "obs.state.manipulator.qpos": { "dtype": "float32", "shape": [ 7 ] }, "obs.state.manipulator.qtorque": { "dtype": "float32", "shape": [ 7 ] }, "obs.state.manipulator.qvel": { "dtype": "float32", "shape": [ 7 ] }, "obs.state.other.action": { "dtype": "float32", "shape": [ 8 ] }, "obs.state.other.drill_pos": { "dtype": "float32", "shape": [ 3 ] }, "obs.state.other.drill_quat": { "dtype": "float32", "shape": [ 4 ] }, "obs.state.other.last_action": { "dtype": "float32", "shape": [ 8 ] }, "obs.cameras.front.rgb": { "dtype": "video", "shape": [ 224, 224, 3 ], "info": { "video.height": 224, "video.width": 224, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 10, "video.channels": 3, "has_audio": false } }, "obs.cameras.wrist.rgb": { "dtype": "video", "shape": [ 224, 224, 3 ], "info": { "video.height": 224, "video.width": 224, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 10, "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 } }, "task": "drill_play", "options": 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: default 数据文件: data/*/*.parquet --- 本数据集基于[LeRobot](https://github.com/huggingface/lerobot)开发构建。 <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=Helium-bre/drill_play_franka_franka_umi_tacticle"> <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`: json { "代码库版本": "v3.0", "机器人类型": null, "总任务回合数": 32, "总帧数": 16000, "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）": 10, "数据集划分": { "训练集": "0:32" }, "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.夹爪.夹爪尖端位置": { "数据类型": "float32", "形状": [6] }, "观测状态.夹爪.夹合间距最小值": { "数据类型": "float32", "形状": [1] }, "观测状态.夹爪.夹合宽度": { "数据类型": "float32", "形状": [1] }, "观测状态.夹爪.关节位置": { "数据类型": "float32", "形状": [2] }, "观测状态.夹爪.关节力矩": { "数据类型": "float32", "形状": [2] }, "观测状态.夹爪.关节速度": { "数据类型": "float32", "形状": [2] }, "观测状态.夹爪.触觉.左侧弹性体.接触状态": { "数据类型": "float32", "形状": [1] }, "观测状态.夹爪.触觉.左侧弹性体.受力": { "数据类型": "float32", "形状": [3] }, "观测状态.夹爪.触觉.左侧弹性体.受力网格": { "数据类型": "float32", "形状": [12, 32] }, "观测状态.夹爪.触觉.左侧弹性体.归一化受力网格": { "数据类型": "float32", "形状": [12, 32] }, "观测状态.夹爪.触觉.左侧弹性体.归一化受力": { "数据类型": "float32", "形状": [1] }, "观测状态.夹爪.触觉.左侧弹性体.测点坐标": { "数据类型": "float32", "形状": [384, 4] }, "观测状态.夹爪.触觉.左侧弹性体.原始测点坐标": { "数据类型": "float32", "形状": [384, 4] }, "观测状态.夹爪.触觉.左侧弹性体.位置": { "数据类型": "float32", "形状": [3] }, "观测状态.夹爪.触觉.左侧弹性体.姿态四元数": { "数据类型": "float32", "形状": [4] }, "奖励值": { "数据类型": "float32", "形状": [1] }, "截断标记": { "数据类型": "bool", "形状": [1] }, "任务成功标记": { "数据类型": "bool", "形状": [1] }, "任务失败标记": { "数据类型": "bool", "形状": [1] }, "动作指令": { "数据类型": "float32", "形状": [8] }, "观测状态.夹爪.触觉.右侧弹性体.接触状态": { "数据类型": "float32", "形状": [1] }, "观测状态.夹爪.触觉.右侧弹性体.受力": { "数据类型": "float32", "形状": [3] }, "观测状态.夹爪.触觉.右侧弹性体.受力网格": { "数据类型": "float32", "形状": [12, 32] }, "观测状态.夹爪.触觉.右侧弹性体.归一化受力网格": { "数据类型": "float32", "形状": [12, 32] }, "观测状态.夹爪.触觉.右侧弹性体.归一化受力": { "数据类型": "float32", "形状": [1] }, "观测状态.夹爪.触觉.右侧弹性体.测点坐标": { "数据类型": "float32", "形状": [384, 4] }, "观测状态.夹爪.触觉.右侧弹性体.原始测点坐标": { "数据类型": "float32", "形状": [384, 4] }, "观测状态.夹爪.触觉.右侧弹性体.位置": { "数据类型": "float32", "形状": [3] }, "观测状态.夹爪.触觉.右侧弹性体.姿态四元数": { "数据类型": "float32", "形状": [4] }, "观测状态.夹爪.触觉.全体测点坐标": { "数据类型": "float32", "形状": [768, 4] }, "观测状态.夹爪.触觉.全体原始测点坐标": { "数据类型": "float32", "形状": [768, 4] }, "观测状态.夹爪.工具中心点位置": { "数据类型": "float32", "形状": [3] }, "观测状态.夹爪.工具中心点姿态四元数": { "数据类型": "float32", "形状": [4] }, "观测状态.机械臂.末端执行器位置": { "数据类型": "float32", "形状": [1, 3] }, "观测状态.机械臂.末端执行器姿态四元数": { "数据类型": "float32", "形状": [1, 4] }, "观测状态.机械臂.关节位置": { "数据类型": "float32", "形状": [7] }, "观测状态.机械臂.关节力矩": { "数据类型": "float32", "形状": [7] }, "观测状态.机械臂.关节速度": { "数据类型": "float32", "形状": [7] }, "观测状态.其他.动作指令": { "数据类型": "float32", "形状": [8] }, "观测状态.其他.电钻位置": { "数据类型": "float32", "形状": [3] }, "观测状态.其他.电钻姿态四元数": { "数据类型": "float32", "形状": [4] }, "观测状态.其他.上一步动作指令": { "数据类型": "float32", "形状": [8] }, "观测.摄像头.前视摄像头.RGB图像": { "数据类型": "video", "形状": [224, 224, 3], "说明": { "视频高度": 224, "视频宽度": 224, "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": 10, "视频通道数": 3, "是否包含音频": false } }, "观测.摄像头.腕部摄像头.RGB图像": { "数据类型": "video", "形状": [224, 224, 3], "说明": { "视频高度": 224, "视频宽度": 224, "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": 10, "视频通道数": 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 }, "任务回合索引": { "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 } }, "任务": "drill_play", "配置选项": null } ## 引用 **BibTeX格式引用:** bibtex [暂未提供更多信息]