chiro1217/franka_task10

---
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",
"total_episodes": 72,
"total_frames": 41118,
"total_tasks": 1,
"total_videos": 144,
"total_chunks": 1,
"chunks_size": 100,
"fps": 10,
"splits": {
"train": "0:72"
},
"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": {
"observation.images.image_additional_view": {
"dtype": "video",
"shape": [
3,
480,
640
],
"names": [
"height",
"width",
"rgb"
],
"info": {
"video.fps": 10.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.image": {
"dtype": "video",
"shape": [
3,
480,
640
],
"names": [
"height",
"width",
"rgb"
],
"info": {
"video.fps": 10.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.state": {
"dtype": "float32",
"shape": [
7
],
"names": {
"motors": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw",
"width"
]
}
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": {
"motors": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw",
"width"
]
}
},
"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
---

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

## 数据集说明
- **主页**：[需补充更多信息]
- **论文**：[需补充更多信息]
- **授权协议**：Apache-2.0

## 数据集结构
`meta/info.json`：
json
{
"代码库版本": "v2.1",
"机器人类型": "Franka（弗兰克）",
"总回合数": 72,
"总帧数": 41118,
"总任务数": 1,
"总视频数": 144,
"总块数": 1,
"块大小": 100,
"帧率": 10,
"数据集划分": {
"训练集": "0:72"
},
"数据路径格式": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"视频路径格式": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"数据特征": {
"观测.图像.附加视角图像": {
"数据类型": "视频",
"形状": [
3,
480,
640
],
"维度名称": [
"高度",
"宽度",
"RGB通道"
],
"详细信息": {
"视频帧率": 10.0,
"视频高度": 480,
"视频宽度": 640,
"视频通道数": 3,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"是否含音频": false
}
},
"观测.图像.主视角图像": {
"数据类型": "视频",
"形状": [
3,
480,
640
],
"维度名称": [
"高度",
"宽度",
"RGB通道"
],
"详细信息": {
"视频帧率": 10.0,
"视频高度": 480,
"视频宽度": 640,
"视频通道数": 3,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"是否含音频": false
}
},
"观测.状态": {
"数据类型": "float32",
"形状": [
7
],
"维度名称": {
"电机参数": [
"x轴位移",
"y轴位移",
"z轴位移",
"滚转角",
"俯仰角",
"偏航角",
"夹爪宽度"
]
}
},
"动作": {
"数据类型": "float32",
"形状": [
7
],
"维度名称": {
"电机参数": [
"x轴位移",
"y轴位移",
"z轴位移",
"滚转角",
"俯仰角",
"偏航角",
"夹爪宽度"
]
}
},
"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]