20-wasa/openarm-cube-pickup_test

该数据集是一个机器人控制测试数据集，由LeRobot创建，专注于双手机器人（bimanual_openarm）执行立方体拾取任务。数据集包含1个episode和527帧数据，帧率为30fps。数据特征包括：16维的机器人关节状态观察（observation.state）和动作（action），分别对应左右手臂各7个关节及左右手指各1个关节；多视角视频观察，包括头部（head）、左腕（left_wrist）和右腕（right_wrist）摄像头拍摄的RGB视频，分辨率为480x640。数据以parquet格式存储，视频以MP4格式存储。数据集用于机器人学习任务，适用于测试环境，许可证为Apache-2.0。

许可协议：Apache-2.0
任务类别：机器人学
标签：LeRobot
配置项：
- 配置名称：default
数据文件路径：`data/*/*.parquet`

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

用户可通过以下链接可视化本数据集：<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=20-wasa/openarm-cube-pickup_test"><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>

## 数据集概述
- **主页**：[需补充更多信息]
- **论文**：[需补充更多信息]
- **许可协议**：Apache-2.0

## 数据集结构
数据集的元数据存储于`meta/info.json`文件中，具体内容如下：
json
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [16],
"names": ["openarm_left_joint1", "openarm_left_joint2", "openarm_left_joint3", "openarm_left_joint4", "openarm_left_joint5", "openarm_left_joint6", "openarm_left_joint7", "openarm_right_joint1", "openarm_right_joint2", "openarm_right_joint3", "openarm_right_joint4", "openarm_right_joint5", "openarm_right_joint6", "openarm_right_joint7", "openarm_left_finger_joint1", "openarm_right_finger_joint1"]
},
"action": {
"dtype": "float32",
"shape": [16],
"names": ["openarm_left_joint1", "openarm_left_joint2", "openarm_left_joint3", "openarm_left_joint4", "openarm_left_joint5", "openarm_left_joint6", "openarm_left_joint7", "openarm_right_joint1", "openarm_right_joint2", "openarm_right_joint3", "openarm_right_joint4", "openarm_right_joint5", "openarm_right_joint6", "openarm_right_joint7", "openarm_left_finger_joint1", "openarm_right_finger_joint1"]
},
"observation.images.head": {
"dtype": "video",
"shape": [480, 640, 3],
"names": ["height", "width", "channel"],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {}
}
},
"observation.images.left_wrist": {
"dtype": "video",
"shape": [480, 640, 3],
"names": ["height", "width", "channel"],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {}
}
},
"observation.images.right_wrist": {
"dtype": "video",
"shape": [480, 640, 3],
"names": ["height", "width", "channel"],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {}
}
},
"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
}
},
"total_episodes": 1,
"total_frames": 527,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"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",
"robot_type": "bimanual_openarm",
"splits": {
"train": "0:1"
}
}

## 引用
**BibTeX格式引用**：
bibtex
[需补充更多信息]