brandonyang/droid_trajectory_overlay

---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- droid
- panda
- trajectory
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": "panda",
"total_episodes": 3,
"total_frames": 487,
"total_tasks": 3,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 15,
"splits": {
"train": "0:3"
},
"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": {
"exterior_image_1_left": {
"dtype": "image",
"shape": [
180,
320,
3
],
"names": [
"height",
"width",
"channel"
]
},
"exterior_image_2_left": {
"dtype": "image",
"shape": [
180,
320,
3
],
"names": [
"height",
"width",
"channel"
]
},
"wrist_image_left": {
"dtype": "image",
"shape": [
180,
320,
3
],
"names": [
"height",
"width",
"channel"
]
},
"joint_position": {
"dtype": "float32",
"shape": [
7
],
"names": [
"joint_position"
]
},
"gripper_position": {
"dtype": "float32",
"shape": [
1
],
"names": [
"gripper_position"
]
},
"actions": {
"dtype": "float32",
"shape": [
8
],
"names": [
"actions"
]
},
"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
- droid
- 熊猫（panda）机械臂
- 轨迹
配置项：
- 配置名称：default
数据文件路径：data/*/*.parquet

---

本数据集基于[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]
- **许可证**：apache-2.0

## 数据集结构
[meta/info.json]：
json
{
"代码库版本": "v2.1",
"机器人类型": "熊猫（panda）机械臂",
"总轨迹数": 3,
"总帧数": 487,
"总任务数": 3,
"总视频数": 0,
"总数据块数": 1,
"数据块大小": 1000,
"帧率": 15,
"数据集划分": {
"训练集": "0:3"
},
"数据文件路径格式": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"视频文件路径格式": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"数据特征": {
"左侧外部摄像头1图像": {
"数据类型": "图像",
"形状": [180, 320, 3],
"维度名称": ["高度", "宽度", "通道数"]
},
"左侧外部摄像头2图像": {
"数据类型": "图像",
"形状": [180, 320, 3],
"维度名称": ["高度", "宽度", "通道数"]
},
"左侧腕部摄像头图像": {
"数据类型": "图像",
"形状": [180, 320, 3],
"维度名称": ["高度", "宽度", "通道数"]
},
"关节位置": {
"数据类型": "float32",
"形状": [7],
"维度名称": ["关节位置"]
},
"夹爪位置": {
"数据类型": "float32",
"形状": [1],
"维度名称": ["夹爪位置"]
},
"动作指令": {
"数据类型": "float32",
"形状": [8],
"维度名称": ["动作指令"]
},
"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
},
"轨迹索引": {
"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]