msavchen-nasa/clr_mujoco_dataset

--- 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": "v3.0", "robot_type": "omy", "total_episodes": 2, "total_frames": 1161, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "fps": 20, "splits": { "train": "0:2" }, "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.image": { "dtype": "image", "shape": [ 256, 256, 3 ], "names": [ "height", "width", "channels" ] }, "observation.wrist_image": { "dtype": "image", "shape": [ 256, 256, 3 ], "names": [ "height", "width", "channels" ] }, "observation.left_scene_image": { "dtype": "image", "shape": [ 256, 256, 3 ], "names": [ "height", "width", "channels" ] }, "observation.right_scene_image": { "dtype": "image", "shape": [ 256, 256, 3 ], "names": [ "height", "width", "channels" ] }, "observation.state": { "dtype": "float32", "shape": [ 7 ], "names": [ "state" ] }, "action": { "dtype": "float32", "shape": [ 7 ], "names": [ "action" ] }, "observation.eef_pose": { "dtype": "float32", "shape": [ 7 ], "names": [ "eef_pose" ] }, "env.obj_pose": { "dtype": "float32", "shape": [ 10, 6 ], "names": [ "obj_pose" ] }, "env.obj_names": { "dtype": "string", "shape": [ 1 ], "names": [ "obj_names" ] }, "env.obj_q_names": { "dtype": "string", "shape": [ 1 ], "names": [ "obj_q_names" ] }, "env.obj_q_states": { "dtype": "float32", "shape": [ 10 ], "names": [ "obj_q_states" ] }, "env.config_file_name": { "dtype": "string", "shape": [ 1 ], "names": [ "file_name" ] }, "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 配置项： - 配置名称：default 数据文件：data/*/*.parquet --- 本数据集由LeRobot构建，项目地址为https://github.com/huggingface/lerobot。 ## 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](meta/info.json): json { "代码库版本": "v3.0", "机器人类型": "omy", "总轨迹数": 2, "总帧数": 1161, "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": "0:2" }, "数据路径格式": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", "视频路径格式": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", "数据特征": { "观测.图像": { "数据类型": "image", "形状": [ 256, 256, 3 ], "维度名称": [ "高度", "宽度", "通道数" ] }, "观测.腕部图像": { "数据类型": "image", "形状": [ 256, 256, 3 ], "维度名称": [ "高度", "宽度", "通道数" ] }, "观测.左场景图像": { "数据类型": "image", "形状": [ 256, 256, 3 ], "维度名称": [ "高度", "宽度", "通道数" ] }, "观测.右场景图像": { "数据类型": "image", "形状": [ 256, 256, 3 ], "维度名称": [ "高度", "宽度", "通道数" ] }, "观测.状态": { "数据类型": "float32", "形状": [ 7 ], "维度名称": [ "state" ] }, "动作": { "数据类型": "float32", "形状": [ 7 ], "维度名称": [ "action" ] }, "观测.末端执行器位姿": { "数据类型": "float32", "形状": [ 7 ], "维度名称": [ "eef_pose" ] }, "环境.物体位姿": { "数据类型": "float32", "形状": [ 10, 6 ], "维度名称": [ "obj_pose" ] }, "环境.物体名称": { "数据类型": "string", "形状": [ 1 ], "维度名称": [ "obj_names" ] }, "环境.物体关节名称": { "数据类型": "string", "形状": [ 1 ], "维度名称": [ "obj_q_names" ] }, "环境.物体关节状态": { "数据类型": "float32", "形状": [ 10 ], "维度名称": [ "obj_q_states" ] }, "环境.配置文件名": { "数据类型": "string", "形状": [ 1 ], "维度名称": [ "file_name" ] }, "时间戳": { "数据类型": "float32", "形状": [ 1 ], "维度名称": null }, "帧索引": { "数据类型": "int64", "形状": [ 1 ], "维度名称": null }, "轨迹索引": { "数据类型": "int64", "形状": [ 1 ], "维度名称": null }, "全局索引": { "数据类型": "int64", "形状": [ 1 ], "维度名称": null }, "任务索引": { "数据类型": "int64", "形状": [ 1 ], "维度名称": null } } } ## 引用 **BibTeX：** bibtex [需补充更多信息]