YingYuan0414/debug_dataset_scissors_1

---
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": "franka_leap",
"total_episodes": 2,
"total_frames": 2127,
"total_tasks": 1,
"total_videos": 8,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:2"
},
"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": {
"action": {
"dtype": "float32",
"shape": [
23
],
"names": [
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6",
"joint_7",
"index_0",
"index_1",
"index_2",
"index_3",
"middle_0",
"middle_1",
"middle_2",
"middle_3",
"ring_0",
"ring_1",
"ring_2",
"ring_3",
"thumb_0",
"thumb_1",
"thumb_2",
"thumb_3"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
23
],
"names": [
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6",
"joint_7",
"index_0",
"index_1",
"index_2",
"index_3",
"middle_0",
"middle_1",
"middle_2",
"middle_3",
"ring_0",
"ring_1",
"ring_2",
"ring_3",
"thumb_0",
"thumb_1",
"thumb_2",
"thumb_3"
]
},
"observation.right_eef_pose": {
"dtype": "float32",
"shape": [
25
],
"names": [
"rot_6d_0",
"rot_6d_1",
"rot_6d_2",
"rot_6d_3",
"rot_6d_4",
"rot_6d_5",
"trans_0",
"trans_1",
"trans_2",
"index_0",
"index_1",
"index_2",
"index_3",
"middle_0",
"middle_1",
"middle_2",
"middle_3",
"ring_0",
"ring_1",
"ring_2",
"ring_3",
"thumb_0",
"thumb_1",
"thumb_2",
"thumb_3"
]
},
"action.right_eef_pose": {
"dtype": "float32",
"shape": [
25
],
"names": [
"rot_6d_0",
"rot_6d_1",
"rot_6d_2",
"rot_6d_3",
"rot_6d_4",
"rot_6d_5",
"trans_0",
"trans_1",
"trans_2",
"index_0",
"index_1",
"index_2",
"index_3",
"middle_0",
"middle_1",
"middle_2",
"middle_3",
"ring_0",
"ring_1",
"ring_2",
"ring_3",
"thumb_0",
"thumb_1",
"thumb_2",
"thumb_3"
]
},
"observation.images.cam_azure_kinect_front.transformed_depth": {
"dtype": "video",
"shape": [
720,
1280,
1
],
"names": [
"height",
"width",
"channels"
],
"info": "Transformed depth image aligned to color"
},
"observation.images.cam_azure_kinect_front.color": {
"dtype": "video",
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channels"
],
"info": "Raw color image"
},
"observation.images.cam_azure_kinect_side.transformed_depth": {
"dtype": "video",
"shape": [
720,
1280,
1
],
"names": [
"height",
"width",
"channels"
],
"info": "Transformed depth image aligned to color"
},
"observation.images.cam_azure_kinect_side.color": {
"dtype": "video",
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channels"
],
"info": "Raw color image"
},
"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（LeRobot）构建，其开源仓库地址为 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` 文件内容如下：
json
{
"代码库版本": "v2.1",
"机器人类型": "franka_leap",
"总回合数": 2,
"总帧数": 2127,
"总任务数": 1,
"总视频数": 8,
"总块数": 1,
"块大小": 1000,
"帧率": 30,
"数据集划分": {
"训练集": "0:2"
},
"数据路径": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"视频路径": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"特征": {
"动作": {
"数据类型": "float32",
"形状": [23],
"字段名称": ["joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6", "joint_7", "index_0", "index_1", "index_2", "index_3", "middle_0", "middle_1", "middle_2", "middle_3", "ring_0", "ring_1", "ring_2", "ring_3", "thumb_0", "thumb_1", "thumb_2", "thumb_3"]
},
"观测状态": {
"数据类型": "float32",
"形状": [23],
"字段名称": ["joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6", "joint_7", "index_0", "index_1", "index_2", "index_3", "middle_0", "middle_1", "middle_2", "middle_3", "ring_0", "ring_1", "ring_2", "ring_3", "thumb_0", "thumb_1", "thumb_2", "thumb_3"]
},
"观测.右手末端执行器位姿": {
"数据类型": "float32",
"形状": [25],
"字段名称": ["rot_6d_0", "rot_6d_1", "rot_6d_2", "rot_6d_3", "rot_6d_4", "rot_6d_5", "trans_0", "trans_1", "trans_2", "index_0", "index_1", "index_2", "index_3", "middle_0", "middle_1", "middle_2", "middle_3", "ring_0", "ring_1", "ring_2", "ring_3", "thumb_0", "thumb_1", "thumb_2", "thumb_3"]
},
"动作.右手末端执行器位姿": {
"数据类型": "float32",
"形状": [25],
"字段名称": ["rot_6d_0", "rot_6d_1", "rot_6d_2", "rot_6d_3", "rot_6d_4", "rot_6d_5", "trans_0", "trans_1", "trans_2", "index_0", "index_1", "index_2", "index_3", "middle_0", "middle_1", "middle_2", "middle_3", "ring_0", "ring_1", "ring_2", "ring_3", "thumb_0", "thumb_1", "thumb_2", "thumb_3"]
},
"观测.图像.前置Azure Kinect相机.变换深度图": {
"数据类型": "video",
"形状": [720, 1280, 1],
"维度名称": ["高度", "宽度", "通道数"],
"说明": "与彩色图像对齐的变换深度图像"
},
"观测.图像.前置Azure Kinect相机.彩色图像": {
"数据类型": "video",
"形状": [720, 1280, 3],
"维度名称": ["高度", "宽度", "通道数"],
"说明": "原始彩色图像"
},
"观测.图像.侧面Azure Kinect相机.变换深度图": {
"数据类型": "video",
"形状": [720, 1280, 1],
"维度名称": ["高度", "宽度", "通道数"],
"说明": "与彩色图像对齐的变换深度图像"
},
"观测.图像.侧面Azure Kinect相机.彩色图像": {
"数据类型": "video",
"形状": [720, 1280, 3],
"维度名称": ["高度", "宽度", "通道数"],
"说明": "原始彩色图像"
},
"时间戳": {
"数据类型": "float32",
"形状": [1],
"字段名称": null
},
"帧索引": {
"数据类型": "int64",
"形状": [1],
"字段名称": null
},
"回合索引": {
"数据类型": "int64",
"形状": [1],
"字段名称": null
},
"索引": {
"数据类型": "int64",
"形状": [1],
"字段名称": null
},
"任务索引": {
"数据类型": "int64",
"形状": [1],
"字段名称": null
}
}
}

## 引用
**BibTeX:**
bibtex
[需补充更多信息]