rainbowrobotics/simtos_left_right_can

---
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).

<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=rainbowrobotics/simtos_left_right_can">
<img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/>
<img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/>
</a>

## 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": "rby1",
"total_episodes": 83,
"total_frames": 19580,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 15,
"splits": {
"train": "0:83"
},
"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": [
"right_arm_0",
"right_arm_1",
"right_arm_2",
"right_arm_3",
"right_arm_4",
"right_arm_5",
"right_arm_6",
"left_arm_0",
"left_arm_1",
"left_arm_2",
"left_arm_3",
"left_arm_4",
"left_arm_5",
"left_arm_6",
"right_gripper_0",
"left_gripper_0"
],
"shape": [
16
]
},
"observation.state": {
"dtype": "float32",
"names": [
"right_arm_0",
"right_arm_1",
"right_arm_2",
"right_arm_3",
"right_arm_4",
"right_arm_5",
"right_arm_6",
"left_arm_0",
"left_arm_1",
"left_arm_2",
"left_arm_3",
"left_arm_4",
"left_arm_5",
"left_arm_6",
"right_gripper_0",
"left_gripper_0"
],
"shape": [
16
]
},
"observation.images.front": {
"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": 15,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.right": {
"dtype": "video",
"shape": [
640,
480,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 640,
"video.width": 480,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.left": {
"dtype": "video",
"shape": [
640,
480,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 640,
"video.width": 480,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"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：
- config_name: default
data_files: data/*/*.parquet
---

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

<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=rainbowrobotics/simtos_left_right_can">
<img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/>
<img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/>
</a>

## 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`：
json
{
"codebase_version": "v3.0",
"robot_type": "rby1",
"total_episodes": 83,
"total_frames": 19580,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 15,
"splits": {
"train": "0:83"
},
"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": [
"右机械臂关节0",
"右机械臂关节1",
"右机械臂关节2",
"右机械臂关节3",
"右机械臂关节4",
"右机械臂关节5",
"右机械臂关节6",
"左机械臂关节0",
"左机械臂关节1",
"左机械臂关节2",
"左机械臂关节3",
"左机械臂关节4",
"左机械臂关节5",
"左机械臂关节6",
"右夹爪关节0",
"左夹爪关节0"
],
"shape": [
16
]
},
"observation.state": {
"dtype": "float32",
"names": [
"右机械臂关节0",
"右机械臂关节1",
"右机械臂关节2",
"右机械臂关节3",
"右机械臂关节4",
"右机械臂关节5",
"右机械臂关节6",
"左机械臂关节0",
"左机械臂关节1",
"左机械臂关节2",
"左机械臂关节3",
"左机械臂关节4",
"左机械臂关节5",
"左机械臂关节6",
"右夹爪关节0",
"左夹爪关节0"
],
"shape": [
16
]
},
"observation.images.front": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"高度",
"宽度",
"通道数"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.right": {
"dtype": "video",
"shape": [
640,
480,
3
],
"names": [
"高度",
"宽度",
"通道数"
],
"info": {
"video.height": 640,
"video.width": 480,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.left": {
"dtype": "video",
"shape": [
640,
480,
3
],
"names": [
"高度",
"宽度",
"通道数"
],
"info": {
"video.height": 640,
"video.width": 480,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"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
}
}
}

## 引用

**BibTeX格式引用：**
bibtex
[More Information Needed]