Aasdfip/skewer_foam_04_17_0

--- 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": "bi_so_follower", "total_episodes": 19, "total_frames": 44261, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "fps": 30, "splits": { "train": "0:19" }, "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": [ "left_shoulder_pan.pos", "left_shoulder_lift.pos", "left_elbow_flex.pos", "left_wrist_flex.pos", "left_wrist_roll.pos", "left_gripper.pos", "right_shoulder_pan.pos", "right_shoulder_lift.pos", "right_elbow_flex.pos", "right_wrist_flex.pos", "right_wrist_roll.pos", "right_gripper.pos" ], "shape": [ 12 ] }, "observation.state": { "dtype": "float32", "names": [ "left_shoulder_pan.pos", "left_shoulder_lift.pos", "left_elbow_flex.pos", "left_wrist_flex.pos", "left_wrist_roll.pos", "left_gripper.pos", "right_shoulder_pan.pos", "right_shoulder_lift.pos", "right_elbow_flex.pos", "right_wrist_flex.pos", "right_wrist_roll.pos", "right_gripper.pos" ], "shape": [ 12 ] }, "observation.images.left_wrist": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.right_wrist": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.right_top": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "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: default 数据文件: data/*/*.parquet --- 本数据集由[LeRobot（LeRobot）](https://github.com/huggingface/lerobot)构建。 ## 数据集描述 - **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": "v3.0", "机器人类型": "bi_so_follower", "总回合数": 19, "总帧数": 44261, "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": "0:19" }, "数据路径": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", "视频路径": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", "特征项": { "动作": { "数据类型": "float32", "字段名称": [ "左肩关节 pan 位置", "左肩关节 lift 位置", "左肘关节 flex 位置", "左腕关节 flex 位置", "左腕关节 roll 位置", "左夹爪位置", "右肩关节 pan 位置", "右肩关节 lift 位置", "右肘关节 flex 位置", "右腕关节 flex 位置", "右腕关节 roll 位置", "右夹爪位置" ], "形状": [12] }, "观测.状态": { "数据类型": "float32", "字段名称": [ "左肩关节 pan 位置", "左肩关节 lift 位置", "左肘关节 flex 位置", "左腕关节 flex 位置", "左腕关节 roll 位置", "左夹爪位置", "右肩关节 pan 位置", "右肩关节 lift 位置", "右肘关节 flex 位置", "右腕关节 flex 位置", "右腕关节 roll 位置", "右夹爪位置" ], "形状": [12] }, "观测.图像.左腕相机": { "数据类型": "video", "形状": [480, 640, 3], "字段名称": ["高度", "宽度", "通道数"], "详细信息": { "视频高度": 480, "视频宽度": 640, "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.右腕相机": { "数据类型": "video", "形状": [480, 640, 3], "字段名称": ["高度", "宽度", "通道数"], "详细信息": { "视频高度": 480, "视频宽度": 640, "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.右上相机": { "数据类型": "video", "形状": [480, 640, 3], "字段名称": ["高度", "宽度", "通道数"], "详细信息": { "视频高度": 480, "视频宽度": 640, "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": { "数据类型": "float32", "形状": [1], "字段名称": null }, "帧索引": { "数据类型": "int64", "形状": [1], "字段名称": null }, "回合索引": { "数据类型": "int64", "形状": [1], "字段名称": null }, "全局索引": { "数据类型": "int64", "形状": [1], "字段名称": null }, "任务索引": { "数据类型": "int64", "形状": [1], "字段名称": null } } } ## 引用 **BibTeX格式:** bibtex [需补充更多信息]