yianW/mug-grasp-topdown
收藏Hugging Face2026-04-17 更新2026-04-26 收录
下载链接：
https://hf-mirror.com/datasets/yianW/mug-grasp-topdown
下载链接
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资源简介：
---
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=yianW/mug-grasp-topdown">
<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": "xarm7_wujihand",
"total_episodes": 1240,
"total_frames": 146452,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 20,
"splits": {
"train": "0:1240"
},
"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.state": {
"dtype": "float32",
"shape": [
27
],
"names": [
"hand_joint_0",
"hand_joint_1",
"hand_joint_2",
"hand_joint_3",
"hand_joint_4",
"hand_joint_5",
"hand_joint_6",
"hand_joint_7",
"hand_joint_8",
"hand_joint_9",
"hand_joint_10",
"hand_joint_11",
"hand_joint_12",
"hand_joint_13",
"hand_joint_14",
"hand_joint_15",
"hand_joint_16",
"hand_joint_17",
"hand_joint_18",
"hand_joint_19",
"wrist_x",
"wrist_y",
"wrist_z",
"wrist_qw",
"wrist_qx",
"wrist_qy",
"wrist_qz"
]
},
"observation.fingertip_positions": {
"dtype": "float32",
"shape": [
15
],
"names": [
"thumb_x",
"thumb_y",
"thumb_z",
"index_x",
"index_y",
"index_z",
"middle_x",
"middle_y",
"middle_z",
"ring_x",
"ring_y",
"ring_z",
"pinky_x",
"pinky_y",
"pinky_z"
]
},
"observation.arm_joints": {
"dtype": "float32",
"shape": [
7
]
},
"action": {
"dtype": "float32",
"shape": [
27
],
"names": [
"wrist_x",
"wrist_y",
"wrist_z",
"wrist_qw",
"wrist_qx",
"wrist_qy",
"wrist_qz",
"hand_joint_0",
"hand_joint_1",
"hand_joint_2",
"hand_joint_3",
"hand_joint_4",
"hand_joint_5",
"hand_joint_6",
"hand_joint_7",
"hand_joint_8",
"hand_joint_9",
"hand_joint_10",
"hand_joint_11",
"hand_joint_12",
"hand_joint_13",
"hand_joint_14",
"hand_joint_15",
"hand_joint_16",
"hand_joint_17",
"hand_joint_18",
"hand_joint_19"
]
},
"observation.images.third_person": {
"dtype": "video",
"shape": [
320,
480,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 320,
"video.width": 480,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.wrist": {
"dtype": "video",
"shape": [
144,
256,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 144,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"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]
```
提供机构：
yianW
