DorianAtSchool/pick_place_merged_2

---
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": null,
"total_episodes": 2000,
"total_frames": 226466,
"total_tasks": 12,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 15,
"splits": {
"train": "0:2000"
},
"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",
"shape": [
7
],
"names": [
"delta_x",
"delta_y",
"delta_z",
"delta_roll",
"delta_pitch",
"delta_yaw",
"gripper"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
8
],
"names": [
"eef_x",
"eef_y",
"eef_z",
"eef_axis_angle_x",
"eef_axis_angle_y",
"eef_axis_angle_z",
"gripper_left",
"gripper_right"
]
},
"observation.images.wrist": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
],
"video_info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15.0,
"video.channels": 3,
"has_audio": false
},
"info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.side": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
],
"video_info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15.0,
"video.channels": 3,
"has_audio": false
},
"info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.top": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
],
"video_info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15.0,
"video.channels": 3,
"has_audio": false
},
"info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"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（LeRobot）
配置项：
- 配置名称：默认
数据文件：data/*/*.parquet
---

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

## 数据集说明
- **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": null,
"总回合数": 2000,
"总帧数": 226466,
"总任务数": 12,
"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": 15,
"划分方式": {
"训练集": "0:2000"
},
"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": {
"动作": {
"数据类型": "float32",
"形状": [7],
"维度名称": [
"delta_x",
"delta_y",
"delta_z",
"delta_roll",
"delta_pitch",
"delta_yaw",
"gripper"
]
},
"观测.状态": {
"数据类型": "float32",
"形状": [8],
"维度名称": [
"eef_x",
"eef_y",
"eef_z",
"eef_axis_angle_x",
"eef_axis_angle_y",
"eef_axis_angle_z",
"gripper_left",
"gripper_right"
]
},
"观测.图像.腕部相机": {
"数据类型": "video",
"形状": [224, 224, 3],
"维度名称": [
"height",
"width",
"channels"
],
"视频信息": {
"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": 15.0,
"视频通道数": 3,
"是否包含音频": false
},
"补充信息": {
"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": 15,
"视频通道数": 3,
"是否包含音频": false
}
},
"观测.图像.侧方相机": {
"数据类型": "video",
"形状": [224, 224, 3],
"维度名称": [
"height",
"width",
"channels"
],
"视频信息": {
"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": 15.0,
"视频通道数": 3,
"是否包含音频": false
},
"补充信息": {
"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": 15,
"视频通道数": 3,
"是否包含音频": false
}
},
"观测.图像.顶部相机": {
"数据类型": "video",
"形状": [224, 224, 3],
"维度名称": [
"height",
"width",
"channels"
],
"视频信息": {
"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": 15.0,
"视频通道数": 3,
"是否包含音频": false
},
"补充信息": {
"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": 15,
"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
[需补充更多信息]