mjung11/rs_total

---
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=mjung11/rs_total">
<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": "bi_piper_follower",
"total_episodes": 301,
"total_frames": 313539,
"total_tasks": 2,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:301"
},
"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",
"shape": [
14
],
"names": [
"left_joint1.pos",
"left_joint2.pos",
"left_joint3.pos",
"left_joint4.pos",
"left_joint5.pos",
"left_joint6.pos",
"left_gripper.pos",
"right_joint1.pos",
"right_joint2.pos",
"right_joint3.pos",
"right_joint4.pos",
"right_joint5.pos",
"right_joint6.pos",
"right_gripper.pos"
],
"fps": 30
},
"observation.state": {
"dtype": "float32",
"shape": [
14
],
"names": [
"left_joint1.pos",
"left_joint2.pos",
"left_joint3.pos",
"left_joint4.pos",
"left_joint5.pos",
"left_joint6.pos",
"left_gripper.pos",
"right_joint1.pos",
"right_joint2.pos",
"right_joint3.pos",
"right_joint4.pos",
"right_joint5.pos",
"right_joint6.pos",
"right_gripper.pos"
],
"fps": 30
},
"observation.images.top": {
"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": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.left_hand": {
"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": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.right_hand": {
"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": 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]
```

---
license: Apache-2.0
task_categories:
- 机器人学
tags:
- LeRobot
configs:
- config_name: 默认配置
data_files: data/*/*.parquet
---

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

<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=mjung11/rs_total">
<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:** [暂未提供更多信息]
- **论文:** [暂未提供更多信息]
- **许可证:** Apache-2.0

## 数据集结构

[meta/info.json](meta/info.json):
json
{
"codebase_version": "v3.0",
"robot_type": "bi_piper_follower（双Piper从动臂）",
"total_episodes": 301,
"total_frames": 313539,
"total_tasks": 2,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:301"
},
"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": {
"动作": {
"数据类型": "float32（32位浮点型）",
"形状": [14],
"维度名称": [
"左关节1位置",
"左关节2位置",
"左关节3位置",
"左关节4位置",
"左关节5位置",
"左关节6位置",
"左夹爪位置",
"右关节1位置",
"右关节2位置",
"右关节3位置",
"右关节4位置",
"右关节5位置",
"右关节6位置",
"右夹爪位置"
],
"帧率": 30
},
"观测状态": {
"数据类型": "float32（32位浮点型）",
"形状": [14],
"维度名称": [
"左关节1位置",
"左关节2位置",
"左关节3位置",
"左关节4位置",
"左关节5位置",
"左关节6位置",
"左夹爪位置",
"右关节1位置",
"右关节2位置",
"右关节3位置",
"右关节4位置",
"右关节5位置",
"右关节6位置",
"右夹爪位置"
],
"帧率": 30
},
"顶部视角图像": {
"数据类型": "video（视频）",
"形状": [480, 640, 3],
"维度名称": ["高度", "宽度", "通道数"],
"详细信息": {
"视频高度": 480,
"视频宽度": 640,
"视频编码": "av1",
"像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 30,
"通道数": 3,
"是否含音频": false
}
},
"左手视角图像": {
"数据类型": "video（视频）",
"形状": [480, 640, 3],
"维度名称": ["高度", "宽度", "通道数"],
"详细信息": {
"视频高度": 480,
"视频宽度": 640,
"视频编码": "av1",
"像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 30,
"通道数": 3,
"是否含音频": false
}
},
"右手视角图像": {
"数据类型": "video（视频）",
"形状": [480, 640, 3],
"维度名称": ["高度", "宽度", "通道数"],
"详细信息": {
"视频高度": 480,
"视频宽度": 640,
"视频编码": "av1",
"像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 30,
"通道数": 3,
"是否含音频": false
}
},
"时间戳": {
"数据类型": "float32（32位浮点型）",
"形状": [1],
"维度名称": null
},
"帧索引": {
"数据类型": "int64（64位整型）",
"形状": [1],
"维度名称": null
},
"回合索引": {
"数据类型": "int64（64位整型）",
"形状": [1],
"维度名称": null
},
"全局索引": {
"数据类型": "int64（64位整型）",
"形状": [1],
"维度名称": null
},
"任务索引": {
"数据类型": "int64（64位整型）",
"形状": [1],
"维度名称": null
}
}
}

## 引用

**BibTeX格式引用:**
bibtex
[暂未提供更多信息]