chomeed/anubis_stack_tuna_eefpose_50_v2_1_video

---
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": "v2.1",
"robot_type": null,
"total_episodes": 50,
"total_frames": 11830,
"total_tasks": 1,
"total_videos": 150,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:50"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
20
],
"names": {
"motors": [
"left_x",
"left_y",
"left_z",
"left_r6d_c1x",
"left_r6d_c1y",
"left_r6d_c1z",
"left_r6d_c2x",
"left_r6d_c2y",
"left_r6d_c2z",
"left_gripper",
"right_x",
"right_y",
"right_z",
"right_r6d_c1x",
"right_r6d_c1y",
"right_r6d_c1z",
"right_r6d_c2x",
"right_r6d_c2y",
"right_r6d_c2z",
"right_gripper"
]
}
},
"observation.images.front": {
"dtype": "video",
"shape": [
240,
320,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"video.height": 240,
"video.width": 320,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.wrist_left": {
"dtype": "video",
"shape": [
240,
320,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"video.height": 240,
"video.width": 320,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.wrist_right": {
"dtype": "video",
"shape": [
240,
320,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"video.height": 240,
"video.width": 320,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"action": {
"dtype": "float32",
"shape": [
23
],
"names": {
"motors": [
"left_x",
"left_y",
"left_z",
"left_r6d_c1x",
"left_r6d_c1y",
"left_r6d_c1z",
"left_r6d_c2x",
"left_r6d_c2y",
"left_r6d_c2z",
"left_gripper",
"right_x",
"right_y",
"right_z",
"right_r6d_c1x",
"right_r6d_c1y",
"right_r6d_c1z",
"right_r6d_c2x",
"right_r6d_c2y",
"right_r6d_c2z",
"right_gripper",
"cmd_vel_x",
"cmd_vel_y",
"cmd_vel_wz"
]
}
},
"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: default
数据文件: data/*/*.parquet(parquet)

本数据集由[LeRobot(LeRobot)](https://github.com/huggingface/lerobot)开发构建。

## 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
文件`meta/info.json`内容如下：
json
{
"代码库版本": "v2.1",
"机器人类型": null,
"总回合数": 50,
"总帧数": 11830,
"总任务数": 1,
"总视频数": 150,
"总分块数": 1,
"分块大小": 1000,
"帧率": 50,
"数据集划分": {
"训练集": "0:50"
},
"数据路径": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"视频路径": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"特征项": {
"观测.状态": {
"数据类型": "float32",
"形状": [
20
],
"命名": {
"电机组": [
"left_x",
"left_y",
"left_z",
"left_r6d_c1x",
"left_r6d_c1y",
"left_r6d_c1z",
"left_r6d_c2x",
"left_r6d_c2y",
"left_r6d_c2z",
"left_gripper",
"right_x",
"right_y",
"right_z",
"right_r6d_c1x",
"right_r6d_c1y",
"right_r6d_c1z",
"right_r6d_c2x",
"right_r6d_c2y",
"right_r6d_c2z",
"right_gripper"
]
}
},
"观测.图像.前视": {
"数据类型": "video",
"形状": [
240,
320,
3
],
"命名": [
"height",
"width",
"channels"
],
"详细信息": {
"视频.帧率": 30.0,
"视频.高度": 240,
"视频.宽度": 320,
"视频.通道数": 3,
"视频.编解码器": "av1",
"视频.像素格式": "yuv420p",
"视频.是否为深度图": false,
"是否包含音频": false
}
},
"观测.图像.左腕": {
"数据类型": "video",
"形状": [
240,
320,
3
],
"命名": [
"height",
"width",
"channels"
],
"详细信息": {
"视频.帧率": 30.0,
"视频.高度": 240,
"视频.宽度": 320,
"视频.通道数": 3,
"视频.编解码器": "av1",
"视频.像素格式": "yuv420p",
"视频.是否为深度图": false,
"是否包含音频": false
}
},
"观测.图像.右腕": {
"数据类型": "video",
"形状": [
240,
320,
3
],
"命名": [
"height",
"width",
"channels"
],
"详细信息": {
"视频.帧率": 30.0,
"视频.高度": 240,
"视频.宽度": 320,
"视频.通道数": 3,
"视频.编解码器": "av1",
"视频.像素格式": "yuv420p",
"视频.是否为深度图": false,
"是否包含音频": false
}
},
"动作": {
"数据类型": "float32",
"形状": [
23
],
"命名": {
"电机组": [
"left_x",
"left_y",
"left_z",
"left_r6d_c1x",
"left_r6d_c1y",
"left_r6d_c1z",
"left_r6d_c2x",
"left_r6d_c2y",
"left_r6d_c2z",
"left_gripper",
"right_x",
"right_y",
"right_z",
"right_r6d_c1x",
"right_r6d_c1y",
"right_r6d_c1z",
"right_r6d_c2x",
"right_r6d_c2y",
"right_r6d_c2z",
"right_gripper",
"cmd_vel_x",
"cmd_vel_y",
"cmd_vel_wz"
]
}
},
"时间戳": {
"数据类型": "float32",
"形状": [
1
],
"命名": null
},
"帧索引": {
"数据类型": "int64",
"形状": [
1
],
"命名": null
},
"回合索引": {
"数据类型": "int64",
"形状": [
1
],
"命名": null
},
"全局索引": {
"数据类型": "int64",
"形状": [
1
],
"命名": null
},
"任务索引": {
"数据类型": "int64",
"形状": [
1
],
"命名": null
}
}
}

## 引用
**BibTeX格式：**
bibtex
[需补充更多信息]