NONHUMAN-RESEARCH/pick-and-place-one-fruit

---
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 tasks prompts

### Experiment 1

- **Banana:** "Identify the long yellow banana lying flat on the table. Approach and grasp the curved yellow fruit near its middle section. Lift the banana and deposit it carefully into the yellow basket."
- **Strawberry:** "Locate the small red strawberry positioned on the table surface. Securely grasp the round red fruit with the robotic gripper. Transport the strawberry to the yellow basket and release it inside."

### Experiment 2

- **Banana:** "Locate the long curved banana on the table, grasp it by the middle, and place it into the yellow basket."
- **Strawberry:** "Locate the small red strawberry on the table, grasp it securely, and place it into the yellow basket."

### Experiment 3

- **Banana:** "Pick the banana from the table and place it in the basket."
- **Strawberry:** "Pick the strawberry from the table and place it in the basket."

## 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": 522,
"total_frames": 194659,
"total_tasks": 2,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 50,
"splits": {
"train": "0:522"
},
"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": 50,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.top": {
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"shape": [
376,
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3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 376,
"video.width": 672,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
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"video.channels": 3,
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}
},
"observation.images.right": {
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376,
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],
"names": [
"height",
"width",
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],
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"video.width": 672,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 50,
"video.channels": 3,
"has_audio": false
}
},
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},
"frame_index": {
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1
],
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},
"episode_index": {
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1
],
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},
"index": {
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],
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},
"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（robotics）
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。

## 数据集任务提示语
### 实验1
- **香蕉**："识别平放在桌面上的长条形黄色香蕉，靠近并抓取该弧形黄色果实的中部位置，提起香蕉并小心将其放入黄色篮筐中。"
- **草莓**："定位桌面上的小型红色草莓，使用机械夹爪牢牢夹持住这颗圆形红色果实，将草莓运送至黄色篮筐并在内部释放。"

### 实验2
- **香蕉**："定位桌面上的长弧形香蕉，抓取其中部并将其放入黄色篮筐。"
- **草莓**："定位桌面上的小型红色草莓，牢牢夹持后将其放入黄色篮筐。"

### 实验3
- **香蕉**："将桌面上的香蕉拾取并放入篮筐。"
- **草莓**："将桌面上的草莓拾取并放入篮筐。"

## 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`：
json
{
"codebase_version": "v3.0",
"robot_type": "双舵臂跟随型机器人（bi_piper_follower）",
"total_episodes": 522,
"total_frames": 194659,
"total_tasks": 2,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 50,
"splits": {
"train": "0:522"
},
"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": [
"左肩部方位旋转关节（left_shoulder_pan）位置",
"左肩部抬升关节（left_shoulder_lift）位置",
"左肘部弯曲关节（left_elbow_flex）位置",
"左前臂滚动关节（left_forearm_roll）位置",
"左腕部弯曲关节（left_wrist_flex）位置",
"左腕部滚动关节（left_wrist_roll）位置",
"左夹持器（left_gripper）位置",
"右肩部方位旋转关节（right_shoulder_pan）位置",
"右肩部抬升关节（right_shoulder_lift）位置",
"右肘部弯曲关节（right_elbow_flex）位置",
"右前臂滚动关节（right_forearm_roll）位置",
"右腕部弯曲关节（right_wrist_flex）位置",
"右腕部滚动关节（right_wrist_roll）位置",
"右夹持器（right_gripper）位置"
],
"shape": [
14
]
},
"observation.state": {
"dtype": "float32",
"names": [
"左肩部方位旋转关节（left_shoulder_pan）位置",
"左肩部抬升关节（left_shoulder_lift）位置",
"左肘部弯曲关节（left_elbow_flex）位置",
"左前臂滚动关节（left_forearm_roll）位置",
"左腕部弯曲关节（left_wrist_flex）位置",
"左腕部滚动关节（left_wrist_roll）位置",
"左夹持器（left_gripper）位置",
"右肩部方位旋转关节（right_shoulder_pan）位置",
"右肩部抬升关节（right_shoulder_lift）位置",
"右肘部弯曲关节（right_elbow_flex）位置",
"右前臂滚动关节（right_forearm_roll）位置",
"右腕部弯曲关节（right_wrist_flex）位置",
"右腕部滚动关节（right_wrist_roll）位置",
"右夹持器（right_gripper）位置"
],
"shape": [
14
]
},
"observation.images.left": {
"dtype": "video",
"shape": [
376,
672,
3
],
"names": [
"高度",
"宽度",
"通道数"
],
"info": {
"video.height": 376,
"video.width": 672,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 50,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.top": {
"dtype": "video",
"shape": [
376,
672,
3
],
"names": [
"高度",
"宽度",
"通道数"
],
"info": {
"video.height": 376,
"video.width": 672,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 50,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.right": {
"dtype": "video",
"shape": [
376,
672,
3
],
"names": [
"高度",
"宽度",
"通道数"
],
"info": {
"video.height": 376,
"video.width": 672,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 50,
"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
}
}
}

## 引用
**BibTeX格式：**
bibtex
[需补充更多信息]