DRMNmadhan/piper_pickdrop_fooditems_103

---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- piper
- robotis
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": "piper",
"total_episodes": 50,
"total_frames": 60029,
"total_tasks": 1,
"total_videos": 150,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:50"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
"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
},
"observation.images.cam_global": {
"dtype": "video",
"names": [
"height",
"width",
"channels"
],
"shape": [
480,
640,
3
],
"info": {
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "libx264",
"video.pix_fmt": "yuv420p"
}
},
"observation.images.cam_gripper": {
"dtype": "video",
"names": [
"height",
"width",
"channels"
],
"shape": [
480,
640,
3
],
"info": {
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "libx264",
"video.pix_fmt": "yuv420p"
}
},
"observation.images.cam_local": {
"dtype": "video",
"names": [
"height",
"width",
"channels"
],
"shape": [
480,
640,
3
],
"info": {
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "libx264",
"video.pix_fmt": "yuv420p"
}
},
"observation.state": {
"dtype": "float32",
"names": [
"joint1",
"joint2",
"joint3",
"joint4",
"joint5",
"joint6",
"gripper"
],
"shape": [
7
]
},
"action": {
"dtype": "float32",
"names": [
"joint1",
"joint2",
"joint3",
"joint4",
"joint5",
"joint6",
"gripper"
],
"shape": [
7
]
}
}
}
```

## Citation

**BibTeX:**

```bibtex
[More Information Needed]
```

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

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

## 数据集描述
- **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`：
json
{
"代码库版本": "v2.1",
"机器人类型": "piper",
"总回合数": 50,
"总帧数": 60029,
"总任务数": 1,
"总视频数": 150,
"总数据块数": 1,
"数据块大小": 1000,
"帧率": 30,
"数据集划分": {
"训练集": "0:50"
},
"数据文件路径": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"视频文件路径": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"数据特征": {
"时间戳": {
"数据类型": "float32",
"形状": [1],
"字段名": null
},
"帧索引": {
"数据类型": "int64",
"形状": [1],
"字段名": null
},
"回合索引": {
"数据类型": "int64",
"形状": [1],
"字段名": null
},
"索引": {
"数据类型": "int64",
"形状": [1],
"字段名": null
},
"任务索引": {
"数据类型": "int64",
"形状": [1],
"字段名": null
},
"观测数据.图像.全局摄像头": {
"数据类型": "视频",
"字段名": ["高度", "宽度", "通道数"],
"形状": [480, 640, 3],
"补充信息": {
"视频高度": 480,
"视频宽度": 640,
"视频通道数": 3,
"视频编码格式": "libx264",
"像素格式": "yuv420p"
}
},
"观测数据.图像.夹爪摄像头": {
"数据类型": "视频",
"字段名": ["高度", "宽度", "通道数"],
"形状": [480, 640, 3],
"补充信息": {
"视频高度": 480,
"视频宽度": 640,
"视频通道数": 3,
"视频编码格式": "libx264",
"像素格式": "yuv420p"
}
},
"观测数据.图像.局部摄像头": {
"数据类型": "视频",
"字段名": ["高度", "宽度", "通道数"],
"形状": [480, 640, 3],
"补充信息": {
"视频高度": 480,
"视频宽度": 640,
"视频通道数": 3,
"视频编码格式": "libx264",
"像素格式": "yuv420p"
}
},
"观测数据.状态": {
"数据类型": "float32",
"字段名": ["关节1", "关节2", "关节3", "关节4", "关节5", "关节6", "夹爪"],
"形状": [7]
},
"动作指令": {
"数据类型": "float32",
"字段名": ["关节1", "关节2", "关节3", "关节4", "关节5", "关节6", "夹爪"],
"形状": [7]
}
}
}

## 引用
**BibTeX格式：**
bibtex
[更多信息待补充]