dillonlyr04/25-Mar-set1

---
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": "bi_so100_follower",
"total_episodes": 0,
"total_frames": 0,
"total_tasks": 0,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {},
"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": [
"left_shoulder_pan.pos",
"left_shoulder_lift.pos",
"left_elbow_flex.pos",
"left_wrist_flex.pos",
"left_wrist_roll.pos",
"left_gripper.pos",
"right_shoulder_pan.pos",
"right_shoulder_lift.pos",
"right_elbow_flex.pos",
"right_wrist_flex.pos",
"right_wrist_roll.pos",
"right_gripper.pos"
],
"shape": [
12
]
},
"observation.state": {
"dtype": "float32",
"names": [
"left_shoulder_pan.pos",
"left_shoulder_lift.pos",
"left_elbow_flex.pos",
"left_wrist_flex.pos",
"left_wrist_roll.pos",
"left_gripper.pos",
"right_shoulder_pan.pos",
"right_shoulder_lift.pos",
"right_elbow_flex.pos",
"right_wrist_flex.pos",
"right_wrist_roll.pos",
"right_gripper.pos"
],
"shape": [
12
]
},
"observation.images.right_arm": {
"dtype": "video",
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channels"
]
},
"observation.images.top_view": {
"dtype": "video",
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channels"
]
},
"observation.images.left_arm": {
"dtype": "video",
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channels"
]
},
"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)开发构建。

## 数据集说明

- **主页：** [需补充更多信息]
- **论文：** [需补充更多信息]
- **许可证：** Apache-2.0

## 数据集结构

[meta/info.json](meta/info.json):
json
{
"代码库版本": "v3.0",
"机器人类型": "bi_so100_follower",
"总回合数": 0,
"总帧数": 0,
"总任务数": 0,
"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": {},
"数据文件路径": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"视频文件路径": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"特征": {
"动作": {
"数据类型": "float32",
"命名项": [
"左肩 pan 关节位置",
"左肩 lift 关节位置",
"左肘 flex 关节位置",
"左腕 flex 关节位置",
"左腕 roll 关节位置",
"左夹爪位置",
"右肩 pan 关节位置",
"右肩 lift 关节位置",
"右肘 flex 关节位置",
"右腕 flex 关节位置",
"右腕 roll 关节位置",
"右夹爪位置"
],
"形状": [12]
},
"观测.状态": {
"数据类型": "float32",
"命名项": [
"左肩 pan 关节位置",
"左肩 lift 关节位置",
"左肘 flex 关节位置",
"左腕 flex 关节位置",
"左腕 roll 关节位置",
"左夹爪位置",
"右肩 pan 关节位置",
"右肩 lift 关节位置",
"右肘 flex 关节位置",
"右腕 flex 关节位置",
"右腕 roll 关节位置",
"右夹爪位置"
],
"形状": [12]
},
"观测.图像.右摄像头": {
"数据类型": "video",
"形状": [720, 1280, 3],
"命名项": ["高度", "宽度", "通道数"]
},
"观测.图像.顶视图": {
"数据类型": "video",
"形状": [720, 1280, 3],
"命名项": ["高度", "宽度", "通道数"]
},
"观测.图像.左摄像头": {
"数据类型": "video",
"形状": [720, 1280, 3],
"命名项": ["高度", "宽度", "通道数"]
},
"时间戳": {
"数据类型": "float32",
"形状": [1],
"命名项": null
},
"帧索引": {
"数据类型": "int64",
"形状": [1],
"命名项": null
},
"回合索引": {
"数据类型": "int64",
"形状": [1],
"命名项": null
},
"全局索引": {
"数据类型": "int64",
"形状": [1],
"命名项": null
},
"任务索引": {
"数据类型": "int64",
"形状": [1],
"命名项": null
}
}
}

## 引用

**BibTeX格式：**

bibtex
[需补充更多信息]