pokeandwiggle/sample_cleanup_lego_duplo_bricks

--- license: apache-2.0 task_categories: - robotics tags: - LeRobot - 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": "dual_fr3_pedestal", "total_episodes": 1, "total_frames": 1768, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "fps": 30, "splits": { "train": "0:1" }, "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.state": { "dtype": "float32", "shape": [ 16 ], "names": [ "tcp_left_pos_x", "tcp_left_pos_y", "tcp_left_pos_z", "tcp_left_quat_x", "tcp_left_quat_y", "tcp_left_quat_z", "tcp_left_quat_w", "tcp_right_pos_x", "tcp_right_pos_y", "tcp_right_pos_z", "tcp_right_quat_x", "tcp_right_quat_y", "tcp_right_quat_z", "tcp_right_quat_w", "robotiq_left", "robotiq_right" ] }, "action": { "dtype": "float32", "shape": [ 16 ], "names": [ "tcp_left_x", "tcp_left_y", "tcp_left_z", "tcp_left_quat_x", "tcp_left_quat_y", "tcp_left_quat_z", "tcp_left_quat_w", "tcp_right_x", "tcp_right_y", "tcp_right_z", "tcp_right_quat_x", "tcp_right_quat_y", "tcp_right_quat_z", "tcp_right_quat_w", "gripper_left", "gripper_right" ] }, "observation.images.rgb_static": { "dtype": "video", "shape": [ 256, 256, 3 ], "names": [ "height", "width", "channel" ], "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.rgb_left": { "dtype": "video", "shape": [ 256, 256, 3 ], "names": [ "height", "width", "channel" ], "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.rgb_right": { "dtype": "video", "shape": [ 256, 256, 3 ], "names": [ "height", "width", "channel" ], "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 } }, "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](meta/info.json)： json { "代码库版本": "v3.0", "机器人类型": "dual_fr3_pedestal（双FR3基座式机器人）", "总回合数": 1, "总帧数": 1768, "总任务数": 1, "分块大小": 1000, "数据文件总规模（MB）": 100, "视频文件总规模（MB）": 200, "帧率": 30, "数据集划分": { "训练集": "0:1" }, "数据文件路径模板": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", "视频文件路径模板": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", "数据特征": { "观测.状态": { "数据类型": "float32", "形状": [16], "维度名称": [ "tcp_left_pos_x", "tcp_left_pos_y", "tcp_left_pos_z", "tcp_left_quat_x", "tcp_left_quat_y", "tcp_left_quat_z", "tcp_left_quat_w", "tcp_right_pos_x", "tcp_right_pos_y", "tcp_right_pos_z", "tcp_right_quat_x", "tcp_right_quat_y", "tcp_right_quat_z", "tcp_right_quat_w", "robotiq_left", "robotiq_right" ] }, "动作": { "数据类型": "float32", "形状": [16], "维度名称": [ "tcp_left_x", "tcp_left_y", "tcp_left_z", "tcp_left_quat_x", "tcp_left_quat_y", "tcp_left_quat_z", "tcp_left_quat_w", "tcp_right_x", "tcp_right_y", "tcp_right_z", "tcp_right_quat_x", "tcp_right_quat_y", "tcp_right_quat_z", "tcp_right_quat_w", "gripper_left", "gripper_right" ] }, "观测.图像.静态RGB": { "数据类型": "video", "形状": [256, 256, 3], "维度名称": ["高度", "宽度", "通道"], "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", "视频.非深度图": false, "视频.帧率": 30, "视频.通道数": 3, "含音频": false } }, "观测.图像.左侧RGB": { "数据类型": "video", "形状": [256, 256, 3], "维度名称": ["高度", "宽度", "通道"], "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", "视频.非深度图": false, "视频.帧率": 30, "视频.通道数": 3, "含音频": false } }, "观测.图像.右侧RGB": { "数据类型": "video", "形状": [256, 256, 3], "维度名称": ["高度", "宽度", "通道"], "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", "视频.非深度图": false, "视频.帧率": 30, "视频.通道数": 3, "含音频": false } }, "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]