HSP-IIT/eval_act-HRII_test_pick_obj

---
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": "custom_manipulator",
"total_episodes": 10,
"total_frames": 1312,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 10,
"splits": {
"train": "0:10"
},
"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": {
"action": {
"dtype": "float32",
"names": [
"position.x",
"position.y",
"position.z",
"orientation_6d.0",
"orientation_6d.1",
"orientation_6d.2",
"orientation_6d.3",
"orientation_6d.4",
"orientation_6d.5",
"gripper"
],
"shape": [
10
]
},
"observation.state": {
"dtype": "float32",
"names": [
"position.x",
"position.y",
"position.z",
"orientation.x",
"orientation.y",
"orientation.z",
"gripper"
],
"shape": [
7
]
},
"observation.images.wrist_rgb": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.left_rgb": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"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]
```

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

本数据集基于LeRobot（LeRobot）构建，项目地址为[LeRobot](https://github.com/huggingface/lerobot)。

## 数据集说明
- **主页**：[更多信息待补充]
- **论文**：[更多信息待补充]
- **许可证**：Apache-2.0

## 数据集结构
`meta/info.json` 文件内容如下：
json
{
"代码库版本": "v3.0",
"机器人类型": "定制化机械臂",
"总回合数": 10,
"总帧数": 1312,
"总任务数": 1,
"分块大小": 1000,
"数据文件总大小（单位：兆字节）": 100,
"视频文件总大小（单位：兆字节）": 500,
"帧率": 10,
"数据集划分": {
"训练集": "0:10"
},
"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": {
"动作": {
"数据类型": "float32",
"维度名称": [
"position.x",
"position.y",
"position.z",
"orientation_6d.0",
"orientation_6d.1",
"orientation_6d.2",
"orientation_6d.3",
"orientation_6d.4",
"orientation_6d.5",
"gripper"
],
"形状": [
10
]
},
"观测.状态": {
"数据类型": "float32",
"维度名称": [
"position.x",
"position.y",
"position.z",
"orientation.x",
"orientation.y",
"orientation.z",
"gripper"
],
"形状": [
7
]
},
"观测.图像.腕部RGB": {
"数据类型": "视频",
"形状": [
480,
640,
3
],
"维度名称": [
"height",
"width",
"channels"
],
"详细信息": {
"视频.高度": 480,
"视频.宽度": 640,
"视频.编码格式": "av1",
"视频.像素格式": "yuv420p",
"视频.非深度图": false,
"视频.帧率": 10,
"视频.通道数": 3,
"含音频": false
}
},
"观测.图像.左侧RGB": {
"数据类型": "视频",
"形状": [
480,
640,
3
],
"维度名称": [
"height",
"width",
"channels"
],
"详细信息": {
"视频.高度": 480,
"视频.宽度": 640,
"视频.编码格式": "av1",
"视频.像素格式": "yuv420p",
"视频.非深度图": false,
"视频.帧率": 10,
"视频.通道数": 3,
"含音频": false
}
},
"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
},
"回合索引": {
"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格式：**
bibtex
[更多信息待补充]