continuallearning/real_0_put_bowl

---
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=continuallearning/real_0_put_bowl">
<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": "franka",
"total_episodes": 100,
"total_frames": 34924,
"total_tasks": 1,
"chunks_size": 1000,
"fps": 15,
"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": {
"observation.images.primary": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channels"
],
"video_info": {
"video.fps": 15.0,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
},
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.wrist": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channels"
],
"video_info": {
"video.fps": 15.0,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
},
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"observation.state.cartesian": {
"dtype": "float32",
"shape": [
6
],
"names": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw"
],
"fps": 15
},
"observation.state.gripper": {
"dtype": "float32",
"shape": [
1
],
"names": [
"gripper"
],
"fps": 15
},
"observation.state.joints": {
"dtype": "float32",
"shape": [
7
],
"names": [
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6"
],
"fps": 15
},
"observation.state.target": {
"dtype": "float32",
"shape": [
6
],
"names": [
"target_x",
"target_y",
"target_z",
"target_roll",
"target_pitch",
"target_yaw"
],
"fps": 15
},
"observation.state": {
"dtype": "float32",
"shape": [
20
],
"names": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw",
"gripper",
"joint_0",
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6",
"target_x",
"target_y",
"target_z",
"target_roll",
"target_pitch",
"target_yaw"
],
"fps": 15
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw",
"gripper"
],
"fps": 15
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null,
"fps": 15
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 15
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 15
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 15
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 15
}
},
"data_files_size_in_mb": 1,
"video_files_size_in_mb": 0
}
```

## 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工具库（LeRobot）构建。

[可视化该数据集](https://huggingface.co/spaces/lerobot/visualize_dataset?path=continuallearning/real_0_put_bowl)

## 数据集描述
- **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` 文件内容如下：
json
{
"codebase_version": "v3.0",
"robot_type": "franka",
"total_episodes": 100,
"total_frames": 34924,
"total_tasks": 1,
"chunks_size": 1000,
"fps": 15,
"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": {
"observation.images.primary": {
"dtype": "video",
"shape": [256, 256, 3],
"names": ["height", "width", "channels"],
"video_info": {
"video.fps": 15.0,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
},
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.wrist": {
"dtype": "video",
"shape": [256, 256, 3],
"names": ["height", "width", "channels"],
"video_info": {
"video.fps": 15.0,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
},
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"observation.state.cartesian": {
"dtype": "float32",
"shape": [6],
"names": ["x", "y", "z", "roll", "pitch", "yaw"],
"fps": 15
},
"observation.state.gripper": {
"dtype": "float32",
"shape": [1],
"names": ["gripper"],
"fps": 15
},
"observation.state.joints": {
"dtype": "float32",
"shape": [7],
"names": ["joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6"],
"fps": 15
},
"observation.state.target": {
"dtype": "float32",
"shape": [6],
"names": ["target_x", "target_y", "target_z", "target_roll", "target_pitch", "target_yaw"],
"fps": 15
},
"observation.state": {
"dtype": "float32",
"shape": [20],
"names": ["x", "y", "z", "roll", "pitch", "yaw", "gripper", "joint_0", "joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6", "target_x", "target_y", "target_z", "target_roll", "target_pitch", "target_yaw"],
"fps": 15
},
"action": {
"dtype": "float32",
"shape": [7],
"names": ["x", "y", "z", "roll", "pitch", "yaw", "gripper"],
"fps": 15
},
"timestamp": {
"dtype": "float32",
"shape": [1],
"names": null,
"fps": 15
},
"frame_index": {
"dtype": "int64",
"shape": [1],
"names": null,
"fps": 15
},
"episode_index": {
"dtype": "int64",
"shape": [1],
"names": null,
"fps": 15
},
"index": {
"dtype": "int64",
"shape": [1],
"names": null,
"fps": 15
},
"task_index": {
"dtype": "int64",
"shape": [1],
"names": null,
"fps": 15
}
},
"data_files_size_in_mb": 1,
"video_files_size_in_mb": 0
}

## 引用
**BibTeX 格式：**
bibtex
[More Information Needed]