cupnb/ur10e_real_cube_multicolor_grid

---
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": "ros2",
"total_episodes": 249,
"total_frames": 207457,
"total_tasks": 4,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:249"
},
"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": [
"linear_x.vel",
"linear_y.vel",
"linear_z.vel",
"angular_x.vel",
"angular_y.vel",
"angular_z.vel",
"gripper.pos"
],
"shape": [
7
]
},
"observation.state": {
"dtype": "float32",
"names": [
"shoulder_pan_joint.pos",
"shoulder_lift_joint.pos",
"elbow_joint.pos",
"wrist_1_joint.pos",
"wrist_2_joint.pos",
"wrist_3_joint.pos",
"robotiq_hande_left_finger_joint.pos",
"pose.x",
"pose.y",
"pose.z",
"pose.quat_x",
"pose.quat_y",
"pose.quat_z",
"pose.quat_w"
],
"shape": [
14
]
},
"observation.images.camera1": {
"dtype": "video",
"shape": [
1280,
720,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 1280,
"video.width": 720,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.camera2": {
"dtype": "video",
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 720,
"video.width": 1280,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.camera3": {
"dtype": "video",
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 720,
"video.width": 1280,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"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
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)构建。

## 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`:
json
{
"代码库版本": "v3.0",
"机器人框架类型": "ros2",
"总回合数": 249,
"总帧数": 207457,
"总任务数": 4,
"分块大小": 1000,
"数据文件总大小（单位：MB）": 100,
"视频文件总大小（单位：MB）": 200,
"帧率": 30,
"数据集划分": {
"训练集": "0:249"
},
"数据文件路径格式": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"视频文件路径格式": "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": [
"线速度x",
"线速度y",
"线速度z",
"角速度x",
"角速度y",
"角速度z",
"夹爪位置"
],
"形状": [
7
]
},
"观测.状态": {
"数据类型": "float32",
"维度名称": [
"肩摆关节位置",
"肩升关节位置",
"肘关节位置",
"腕1关节位置",
"腕2关节位置",
"腕3关节位置",
"robotiq手爪左指关节位置",
"位姿x坐标",
"位姿y坐标",
"位姿z坐标",
"位姿四元数x分量",
"位姿四元数y分量",
"位姿四元数z分量",
"位姿四元数w分量"
],
"形状": [
14
]
},
"观测.图像.camera1": {
"数据类型": "视频",
"形状": [
1280,
720,
3
],
"维度名称": [
"高度",
"宽度",
"通道数"
],
"附加信息": {
"视频高度": 1280,
"视频宽度": 720,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 30,
"视频通道数": 3,
"是否包含音频": false
}
},
"观测.图像.camera2": {
"数据类型": "视频",
"形状": [
720,
1280,
3
],
"维度名称": [
"高度",
"宽度",
"通道数"
],
"附加信息": {
"视频高度": 720,
"视频宽度": 1280,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 30,
"视频通道数": 3,
"是否包含音频": false
}
},
"观测.图像.camera3": {
"数据类型": "视频",
"形状": [
720,
1280,
3
],
"维度名称": [
"高度",
"宽度",
"通道数"
],
"附加信息": {
"视频高度": 720,
"视频宽度": 1280,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 30,
"视频通道数": 3,
"是否包含音频": 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
[需补充更多信息]