crislmfroes/openarm-bimanual-pick-exhaust-pipe-sim-v14-pose-cond
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下载链接：
https://hf-mirror.com/datasets/crislmfroes/openarm-bimanual-pick-exhaust-pipe-sim-v14-pose-cond
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资源简介：
---
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=crislmfroes/openarm-bimanual-pick-exhaust-pipe-sim-v14-pose-cond">
<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": "OpenArm-Bimanual",
"total_episodes": 300,
"total_frames": 33088,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:300"
},
"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": {
"observation.images.top": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
],
"video_info": {
"video.fps": 30.0,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
},
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.left_wrist": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
],
"video_info": {
"video.fps": 30.0,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
},
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.right_wrist": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
],
"video_info": {
"video.fps": 30.0,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
},
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.state": {
"dtype": "float32",
"shape": [
23
],
"names": [
"left_px",
"left_py",
"left_pz",
"left_qw",
"left_qx",
"left_qy",
"left_qz",
"left_gripper",
"right_px",
"right_py",
"right_pz",
"right_qw",
"right_qx",
"right_qy",
"right_qz",
"right_gripper",
"obj_px",
"obj_py",
"obj_pz",
"obj_qw",
"obj_qx",
"obj_qy",
"obj_qz"
]
},
"action": {
"dtype": "float32",
"shape": [
14
],
"names": [
"left_x",
"left_y",
"left_z",
"left_roll",
"left_pitch",
"left_yaw",
"left_gripper",
"right_x",
"right_y",
"right_z",
"right_roll",
"right_pitch",
"right_yaw",
"right_gripper"
]
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
}
}
}
```
## Citation
**BibTeX:**
```bibtex
[More Information Needed]
```
许可证：Apache-2.0
任务类别：
- 机器人学（robotics）
标签：
- LeRobot
配置项：
- 配置名称：默认
数据文件：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=crislmfroes/openarm-bimanual-pick-exhaust-pipe-sim-v14-pose-cond">
<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>
## 数据集描述
- **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
{
"代码库版本": "v3.0",
"机器人类型": "OpenArm-Bimanual（OpenArm双臂机器人）",
"总回合数": 300,
"总帧数": 33088,
"总任务数": 1,
"分块大小": 1000,
"数据文件总大小（MB）": 100,
"视频文件总大小（MB）": 200,
"帧率": 30,
"数据集划分": {
"训练集": "0:300"
},
"数据文件路径格式": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"视频文件路径格式": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"数据特征": {
"观测数据.顶部摄像头图像": {
"数据类型": "视频（video）",
"形状": [
256,
256,
3
],
"维度名称": [
"高度",
"宽度",
"通道数"
],
"视频信息": {
"视频帧率": 30.0,
"视频编码格式": "h264",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"是否包含音频": false
},
"详细信息": {
"视频高度": 256,
"视频宽度": 256,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 30,
"视频通道数": 3,
"是否包含音频": false
}
},
"观测数据.左腕部摄像头图像": {
"数据类型": "视频（video）",
"形状": [
256,
256,
3
],
"维度名称": [
"高度",
"宽度",
"通道数"
],
"视频信息": {
"视频帧率": 30.0,
"视频编码格式": "h264",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"是否包含音频": false
},
"详细信息": {
"视频高度": 256,
"视频宽度": 256,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 30,
"视频通道数": 3,
"是否包含音频": false
}
},
"观测数据.右腕部摄像头图像": {
"数据类型": "视频（video）",
"形状": [
256,
256,
3
],
"维度名称": [
"高度",
"宽度",
"通道数"
],
"视频信息": {
"视频帧率": 30.0,
"视频编码格式": "h264",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"是否包含音频": false
},
"详细信息": {
"视频高度": 256,
"视频宽度": 256,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 30,
"视频通道数": 3,
"是否包含音频": false
}
},
"观测数据.机器人状态": {
"数据类型": "32位浮点型（float32）",
"形状": [
23
],
"维度名称": [
"左机械臂X轴位置",
"左机械臂Y轴位置",
"左机械臂Z轴位置",
"左机械臂姿态四元数w分量",
"左机械臂姿态四元数x分量",
"左机械臂姿态四元数y分量",
"左机械臂姿态四元数z分量",
"左机械爪开度",
"右机械臂X轴位置",
"右机械臂Y轴位置",
"右机械臂Z轴位置",
"右机械臂姿态四元数w分量",
"右机械臂姿态四元数x分量",
"右机械臂姿态四元数y分量",
"右机械臂姿态四元数z分量",
"右机械爪开度",
"目标物体X轴位置",
"目标物体Y轴位置",
"目标物体Z轴位置",
"目标物体姿态四元数w分量",
"目标物体姿态四元数x分量",
"目标物体姿态四元数y分量",
"目标物体姿态四元数z分量"
]
},
"动作指令": {
"数据类型": "32位浮点型（float32）",
"形状": [
14
],
"维度名称": [
"左机械臂X轴位移",
"左机械臂Y轴位移",
"左机械臂Z轴位移",
"左机械臂滚转角",
"左机械臂俯仰角",
"左机械臂偏航角",
"左机械爪开度指令",
"右机械臂X轴位移",
"右机械臂Y轴位移",
"右机械臂Z轴位移",
"右机械臂滚转角",
"右机械臂俯仰角",
"右机械臂偏航角",
"右机械爪开度指令"
]
},
"回合索引": {
"数据类型": "64位整型（int64）",
"形状": [
1
],
"维度名称": null
},
"帧索引": {
"数据类型": "64位整型（int64）",
"形状": [
1
],
"维度名称": null
},
"全局索引": {
"数据类型": "64位整型（int64）",
"形状": [
1
],
"维度名称": null
},
"任务索引": {
"数据类型": "64位整型（int64）",
"形状": [
1
],
"维度名称": null
},
"时间戳": {
"数据类型": "32位浮点型（float32）",
"形状": [
1
],
"维度名称": null
}
}
}
## 引用
**BibTeX格式引用**：
bibtex
[More Information Needed]
提供机构：
crislmfroes
