skpro19/test_4

---
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": "lekiwi_client",
"total_episodes": 5,
"total_frames": 1500,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:5"
},
"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",
"shape": [
10
],
"names": [
"arm_right_shoulder_pan.pos",
"arm_right_shoulder_lift.pos",
"arm_right_elbow_flex.pos",
"arm_right_wrist_flex.pos",
"arm_right_wrist_roll.pos",
"arm_right_gripper.pos",
"x.vel",
"y.vel",
"theta.vel",
"lift_axis.height_mm"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
10
],
"names": [
"arm_right_shoulder_pan.pos",
"arm_right_shoulder_lift.pos",
"arm_right_elbow_flex.pos",
"arm_right_wrist_flex.pos",
"arm_right_wrist_roll.pos",
"arm_right_gripper.pos",
"x.vel",
"y.vel",
"theta.vel",
"lift_axis.height_mm"
]
},
"observation.images.head_top": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.wrist_right": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"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
}
},
"lekiwi_recording_mode": "mono"
}
```

## Citation

**BibTeX:**

```bibtex
[More Information Needed]
```

license: apache-2.0
task_categories:
- 机器人学
tags:
- LeRobot
configs:
- config_name: default
data_files: data/*/*.parquet
---

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

## 数据集描述

- **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
{
"codebase_version": "v3.0",
"robot_type": "lekiwi_client",
"total_episodes": 5,
"total_frames": 1500,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:5"
},
"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",
"shape": [10],
"names": [
"右臂肩旋关节位置(pos)",
"右臂肩抬关节位置(pos)",
"右臂肘屈关节位置(pos)",
"右臂腕屈关节位置(pos)",
"右臂腕转关节位置(pos)",
"右手爪位置(pos)",
"x轴线速度(vel)",
"y轴线速度(vel)",
"theta轴角速度(vel)",
"升降轴高度(mm)"
]
},
"observation.state": {
"dtype": "float32",
"shape": [10],
"names": [
"右臂肩旋关节位置(pos)",
"右臂肩抬关节位置(pos)",
"右臂肘屈关节位置(pos)",
"右臂腕屈关节位置(pos)",
"右臂腕转关节位置(pos)",
"右手爪位置(pos)",
"x轴线速度(vel)",
"y轴线速度(vel)",
"theta轴角速度(vel)",
"升降轴高度(mm)"
]
},
"observation.images.head_top": {
"dtype": "video",
"shape": [480, 640, 3],
"names": ["height", "width", "channels"],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.wrist_right": {
"dtype": "video",
"shape": [480, 640, 3],
"names": ["height", "width", "channels"],
"info": {
"video.height": 480,
"video.width": 640,
"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
}
},
"lekiwi_recording_mode": "单声道"
}

## 引用

**BibTeX:**

bibtex
[需补充更多信息]