ruanafan/pnp_0413swap_robot0rel

---
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": "v2.1",
"robot_type": "umi_bimanual",
"total_episodes": 160,
"total_frames": 123728,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:160"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": null,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
14
],
"names": [
[
"robot0_eef_pos_x",
"robot0_eef_pos_y",
"robot0_eef_pos_z",
"robot0_eef_rotvec_x",
"robot0_eef_rotvec_y",
"robot0_eef_rotvec_z",
"robot0_gripper",
"robot1_eef_pos_x",
"robot1_eef_pos_y",
"robot1_eef_pos_z",
"robot1_eef_rotvec_x",
"robot1_eef_rotvec_y",
"robot1_eef_rotvec_z",
"robot1_gripper"
]
]
},
"action": {
"dtype": "float32",
"shape": [
14
],
"names": [
[
"robot0_eef_pos_x",
"robot0_eef_pos_y",
"robot0_eef_pos_z",
"robot0_eef_rotvec_x",
"robot0_eef_rotvec_y",
"robot0_eef_rotvec_z",
"robot0_gripper",
"robot1_eef_pos_x",
"robot1_eef_pos_y",
"robot1_eef_pos_z",
"robot1_eef_rotvec_x",
"robot1_eef_rotvec_y",
"robot1_eef_rotvec_z",
"robot1_gripper"
]
]
},
"observation.images.camera0": {
"dtype": "image",
"shape": [
3,
224,
224
],
"names": [
"channels",
"height",
"width"
]
},
"observation.images.camera1": {
"dtype": "image",
"shape": [
3,
224,
224
],
"names": [
"channels",
"height",
"width"
]
},
"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（LeRobot）构建，相关仓库链接：[LeRobot](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": "v2.1",
"机器人类型": "umi_bimanual",
"总回合数": 160,
"总帧数": 123728,
"总任务数": 1,
"总视频数": 0,
"总块数": 1,
"块大小": 1000,
"帧率": 10,
"数据集划分": {
"训练集": "0:160"
},
"数据文件路径格式": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"视频文件路径": null,
"特征项": {
"观测状态（observation.state）": {
"数据类型": "float32",
"形状": [14],
"字段名称": [["robot0_eef_pos_x", "robot0_eef_pos_y", "robot0_eef_pos_z", "robot0_eef_rotvec_x", "robot0_eef_rotvec_y", "robot0_eef_rotvec_z", "robot0_gripper", "robot1_eef_pos_x", "robot1_eef_pos_y", "robot1_eef_pos_z", "robot1_eef_rotvec_x", "robot1_eef_rotvec_y", "robot1_eef_rotvec_z", "robot1_gripper"]]
},
"动作（action）": {
"数据类型": "float32",
"形状": [14],
"字段名称": [["robot0_eef_pos_x", "robot0_eef_pos_y", "robot0_eef_pos_z", "robot0_eef_rotvec_x", "robot0_eef_rotvec_y", "robot0_eef_rotvec_z", "robot0_gripper", "robot1_eef_pos_x", "robot1_eef_pos_y", "robot1_eef_pos_z", "robot1_eef_rotvec_x", "robot1_eef_rotvec_y", "robot1_eef_rotvec_z", "robot1_gripper"]]
},
"相机0观测图像（observation.images.camera0）": {
"数据类型": "图像",
"形状": [3, 224, 224],
"字段名称": ["通道数", "高度", "宽度"]
},
"相机1观测图像（observation.images.camera1）": {
"数据类型": "图像",
"形状": [3, 224, 224],
"字段名称": ["通道数", "高度", "宽度"]
},
"时间戳（timestamp）": {
"数据类型": "float32",
"形状": [1],
"字段名称": null
},
"帧索引（frame_index）": {
"数据类型": "int64",
"形状": [1],
"字段名称": null
},
"回合索引（episode_index）": {
"数据类型": "int64",
"形状": [1],
"字段名称": null
},
"索引（index）": {
"数据类型": "int64",
"形状": [1],
"字段名称": null
},
"任务索引（task_index）": {
"数据类型": "int64",
"形状": [1],
"字段名称": null
}
}
}

## 引用
**BibTeX引用：**
bibtex
[需补充更多信息]