indojin/so101_pick_place_vial_v3

---
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=indojin/so101_pick_place_vial_v3">
<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": "so_follower",
"total_episodes": 100,
"total_frames": 75000,
"total_tasks": 2,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:100"
},
"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": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6
]
},
"observation.state": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6
]
},
"observation.images.front": {
"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](https://github.com/huggingface/lerobot) 构建。

您可通过以下链接可视化本数据集：<a href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=indojin/so101_pick_place_vial_v3">点击可视化数据集</a>（配有明暗模式适配的徽章链接）

## 数据集说明
- **主页**：[更多信息待补充]
- **论文**：[更多信息待补充]
- **许可证**：Apache-2.0

## 数据集结构
元数据文件为 [meta/info.json](meta/info.json)，其内容如下：
json
{
"代码库版本": "v3.0",
"机器人类型": "so_follower",
"总回合数": 100,
"总帧数": 75000,
"总任务数": 2,
"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,
"数据划分": {
"训练集": "0:100"
},
"数据路径格式": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"视频路径格式": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"数据特征": {
"动作（action）": {
"数据类型": "float32",
"维度名称": [
"肩旋转关节位置",
"肩抬升关节位置",
"肘关节屈曲位置",
"腕关节屈曲位置",
"腕关节旋转位置",
"夹爪位置"
],
"形状": [
6
]
},
"观测状态（observation.state）": {
"数据类型": "float32",
"维度名称": [
"肩旋转关节位置",
"肩抬升关节位置",
"肘关节屈曲位置",
"腕关节屈曲位置",
"腕关节旋转位置",
"夹爪位置"
],
"形状": [
6
]
},
"前方摄像头图像观测（observation.images.front）": {
"数据类型": "视频",
"形状": [
480,
640,
3
],
"维度名称": [
"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",
"像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 30,
"视频通道数": 3,
"无音频轨道": false
}
},
"时间戳（timestamp）": {
"数据类型": "float32",
"形状": [
1
],
"维度名称": null
},
"帧索引（frame_index）": {
"数据类型": "int64",
"形状": [
1
],
"维度名称": null
},
"回合索引（episode_index）": {
"数据类型": "int64",
"形状": [
1
],
"维度名称": null
},
"全局索引（index）": {
"数据类型": "int64",
"形状": [
1
],
"维度名称": null
},
"任务索引（task_index）": {
"数据类型": "int64",
"形状": [
1
],
"维度名称": null
}
}
}

## 引用
**BibTeX格式**：
bibtex
[更多信息待补充]