yianW/mug-grasp-topdown

--- 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] ```### 数据集元数据 license: Apache-2.0 task_categories: - 机器人学 tags: - LeRobot configs: - config_name: default data_files: data/*/*.parquet --- 本数据集基于[LeRobot](https://github.com/huggingface/lerobot)构建。 <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" alt="可视化此数据集"/> <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg" alt="可视化此数据集（深色模式）"/> </a> ## 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": "xarm7_wujihand", "总轨迹数": 1240, "总帧数": 146452, "总任务数": 1, "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": 20, "数据集划分": { "训练集": "0:1240" }, "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", "数据特征": { "观测.关节状态（observation.state）": { "数据类型": "float32", "形状": [27], "维度名称": [ "手部关节0", "手部关节1", "手部关节2", "手部关节3", "手部关节4", "手部关节5", "手部关节6", "手部关节7", "手部关节8", "手部关节9", "手部关节10", "手部关节11", "手部关节12", "手部关节13", "手部关节14", "手部关节15", "手部关节16", "手部关节17", "手部关节18", "手部关节19", "腕部X轴坐标", "腕部Y轴坐标", "腕部Z轴坐标", "腕部四元数实部", "腕部四元数X分量", "腕部四元数Y分量", "腕部四元数Z分量" ] }, "观测.指尖位置（observation.fingertip_positions）": { "数据类型": "float32", "形状": [15], "维度名称": [ "拇指X轴坐标", "拇指Y轴坐标", "拇指Z轴坐标", "食指X轴坐标", "食指Y轴坐标", "食指Z轴坐标", "中指X轴坐标", "中指Y轴坐标", "中指Z轴坐标", "无名指X轴坐标", "无名指Y轴坐标", "无名指Z轴坐标", "小指X轴坐标", "小指Y轴坐标", "小指Z轴坐标" ] }, "观测.机械臂关节（observation.arm_joints）": { "数据类型": "float32", "形状": [7] }, "动作指令（action）": { "数据类型": "float32", "形状": [27], "维度名称": [ "腕部X轴坐标", "腕部Y轴坐标", "腕部Z轴坐标", "腕部四元数实部", "腕部四元数X分量", "腕部四元数Y分量", "腕部四元数Z分量", "手部关节0", "手部关节1", "手部关节2", "手部关节3", "手部关节4", "手部关节5", "手部关节6", "手部关节7", "手部关节8", "手部关节9", "手部关节10", "手部关节11", "手部关节12", "手部关节13", "手部关节14", "手部关节15", "手部关节16", "手部关节17", "手部关节18", "手部关节19" ] }, "观测.第三人称图像（observation.images.third_person）": { "数据类型": "video", "形状": [320, 480, 3], "维度名称": ["高度", "宽度", "通道数"], "视频详细参数": { "视频高度": 320, "视频宽度": 480, "视频编码格式": "av1", "像素格式": "yuv420p", "非深度图": false, "帧率": 20, "通道数": 3, "无音频轨道": false } }, "观测.腕部图像（observation.images.wrist）": { "数据类型": "video", "形状": [144, 256, 3], "维度名称": ["高度", "宽度", "通道数"], "视频详细参数": { "视频高度": 144, "视频宽度": 256, "视频编码格式": "av1", "像素格式": "yuv420p", "非深度图": false, "帧率": 20, "通道数": 3, "无音频轨道": false } }, "时间戳（timestamp）": { "数据类型": "float32", "形状": [1], "维度名称": null }, "帧索引（frame_index）": { "数据类型": "int64", "形状": [1], "维度名称": null }, "轨迹索引（episode_index）": { "数据类型": "int64", "形状": [1], "维度名称": null }, "全局索引（index）": { "数据类型": "int64", "形状": [1], "维度名称": null }, "任务索引（task_index）": { "数据类型": "int64", "形状": [1], "维度名称": null } } } ## 引用 **BibTeX引用：** bibtex [需补充更多信息]