NONHUMAN-RESEARCH/pick-and-place-fruits_v2_cleaned

---
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_piper_follower",
"total_episodes": 2301,
"total_frames": 901977,
"total_tasks": 4,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:2301"
},
"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_forearm_roll.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_forearm_roll.pos",
"right_wrist_flex.pos",
"right_wrist_roll.pos",
"right_gripper.pos"
],
"shape": [
14
]
},
"observation.state": {
"dtype": "float32",
"names": [
"left_shoulder_pan.pos",
"left_shoulder_lift.pos",
"left_elbow_flex.pos",
"left_forearm_roll.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_forearm_roll.pos",
"right_wrist_flex.pos",
"right_wrist_roll.pos",
"right_gripper.pos"
],
"shape": [
14
]
},
"observation.images.left": {
"dtype": "video",
"shape": [
376,
672,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 376,
"video.width": 672,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.top": {
"dtype": "video",
"shape": [
376,
672,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 376,
"video.width": 672,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.right": {
"dtype": "video",
"shape": [
376,
672,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 376,
"video.width": 672,
"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

本数据集基于[LeRobot](https://github.com/huggingface/lerobot)构建。

## 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
[meta/info.json](meta/info.json):
json
{
"代码库版本": "v3.0",
"机器人类型": "双Pipper从动机器人(bi_piper_follower)",
"总回合数": 2301,
"总帧数": 901977,
"总任务数": 4,
"分块大小": 1000,
"数据文件总大小（单位：MB）": 100,
"视频文件总大小（单位：MB）": 500,
"帧率": 30,
"数据集划分": {
"训练集": "0:2301"
},
"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": {
"数据类型": "float32",
"特征名称": [
"左肩部旋转关节位置",
"左肩部抬升关节位置",
"左肘部弯曲关节位置",
"左前臂旋转关节位置",
"左腕部弯曲关节位置",
"左腕部旋转关节位置",
"左夹爪位置",
"右肩部旋转关节位置",
"右肩部抬升关节位置",
"右肘部弯曲关节位置",
"右前臂旋转关节位置",
"右腕部弯曲关节位置",
"右腕部旋转关节位置",
"右夹爪位置"
],
"形状": [14]
},
"观测状态": {
"数据类型": "float32",
"特征名称": [
"左肩部旋转关节位置",
"左肩部抬升关节位置",
"左肘部弯曲关节位置",
"左前臂旋转关节位置",
"左腕部弯曲关节位置",
"左腕部旋转关节位置",
"左夹爪位置",
"右肩部旋转关节位置",
"右肩部抬升关节位置",
"右肘部弯曲关节位置",
"右前臂旋转关节位置",
"右腕部弯曲关节位置",
"右腕部旋转关节位置",
"右夹爪位置"
],
"形状": [14]
},
"左侧观测图像": {
"数据类型": "视频",
"形状": [376, 672, 3],
"维度名称": ["高度", "宽度", "通道数"],
"详细信息": {
"视频高度": 376,
"视频宽度": 672,
"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
}
},
"顶部观测图像": {
"数据类型": "视频",
"形状": [376, 672, 3],
"维度名称": ["高度", "宽度", "通道数"],
"详细信息": {
"视频高度": 376,
"视频宽度": 672,
"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
}
},
"右侧观测图像": {
"数据类型": "视频",
"形状": [376, 672, 3],
"维度名称": ["高度", "宽度", "通道数"],
"详细信息": {
"视频高度": 376,
"视频宽度": 672,
"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],
"维度名称": null
},
"帧索引": {
"数据类型": "int64",
"形状": [1],
"维度名称": null
},
"回合索引": {
"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
}
}
}

## 引用
**BibTeX格式：**
bibtex
[更多信息待补充]