crislmfroes/xarm6-sim-contact-cond-v1

--- 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=crislmfroes/xarm6-sim-contact-cond-v1"> <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": 300, "total_frames": 68660, "total_tasks": 6, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "fps": 30, "splits": { "train": "0:300" }, "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.images.wrist": { "dtype": "video", "shape": [ 256, 256, 3 ], "names": [ "height", "width", "channel" ], "video_info": { "video.fps": 30.0, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "has_audio": false }, "info": { "video.height": 256, "video.width": 256, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.state": { "dtype": "float32", "shape": [ 11 ], "names": [ "px", "py", "pz", "qw", "qx", "qy", "qz", "gripper", "contact_px", "contact_py", "contact_pz" ] }, "action": { "dtype": "float32", "shape": [ 7 ], "names": [ "x", "y", "z", "roll", "pitch", "yaw", "gripper" ] }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "timestamp": { "dtype": "float32", "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 数据文件路径：data/*/*.parquet 本数据集基于[LeRobot](https://github.com/huggingface/lerobot)开发构建。 可点击此链接[可视化本数据集](https://huggingface.co/spaces/lerobot/visualize_dataset?path=crislmfroes/xarm6-sim-contact-cond-v1)，配套提供明暗主题适配的可视化徽章。 ## 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`文件的详细元数据如下： json { "代码库版本": "v3.0", "机器人型号": "xarm6", "总回合数": 300, "总帧数": 68660, "总任务数": 6, "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": "0:300" }, "数据文件路径格式": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", "视频文件路径格式": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", "数据特征": { "观测数据.腕部相机图像": { "数据类型": "video", "形状": [256, 256, 3], "维度名称": ["高度", "宽度", "通道数"], "视频元信息": { "视频帧率": 30.0, "视频编码格式": "h264", "视频像素格式": "yuv420p", "非深度图": false, "无音频": false }, "补充信息": { "视频高度": 256, "视频宽度": 256, "视频编码格式": "av1", "视频像素格式": "yuv420p", "非深度图": false, "视频帧率": 30, "通道数": 3, "无音频": false } }, "观测数据.机械状态": { "数据类型": "float32", "形状": [11], "维度名称": ["px", "py", "pz", "qw", "qx", "qy", "qz", "gripper", "contact_px", "contact_py", "contact_pz"] }, "动作指令": { "数据类型": "float32", "形状": [7], "维度名称": ["x", "y", "z", "roll", "pitch", "yaw", "gripper"] }, "回合索引": { "数据类型": "int64", "形状": [1], "维度名称": null }, "帧索引": { "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 }, "时间戳": { "数据类型": "float32", "形状": [1], "维度名称": null } } } ## 引用 **BibTeX格式引用**： bibtex [需补充更多信息]