StyTJU/piper_grab_charger

---
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": "v2.1",
"robot_type": "piper_follower",
"total_episodes": 50,
"total_frames": 22189,
"total_tasks": 1,
"total_videos": 100,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:50"
},
"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": {
"action": {
"dtype": "float32",
"shape": [
7
],
"names": [
"joint_1.pos",
"joint_2.pos",
"joint_3.pos",
"joint_4.pos",
"joint_5.pos",
"joint_6.pos",
"gripper.pos"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
7
],
"names": [
"joint_1.pos",
"joint_2.pos",
"joint_3.pos",
"joint_4.pos",
"joint_5.pos",
"joint_6.pos",
"gripper.pos"
]
},
"observation.images.observation.images.front": {
"dtype": "video",
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 720,
"video.width": 1280,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.observation.images.side": {
"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
}
}
}
```

## 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)开发构建。

## 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` 文件详情如下：
json
{
"代码库版本": "v2.1",
"机器人类型": "piper_follower",
"总轨迹数": 50,
"总帧数": 22189,
"总任务数": 1,
"总视频数": 100,
"总数据块数": 1,
"单数据块大小": 1000,
"帧率": 30,
"数据集划分": {
"训练集": "0:50"
},
"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": {
"动作": {
"数据类型": "float32",
"形状": [7],
"字段名称": ["关节1位置", "关节2位置", "关节3位置", "关节4位置", "关节5位置", "关节6位置", "夹爪位置"]
},
"观测状态": {
"数据类型": "float32",
"形状": [7],
"字段名称": ["关节1位置", "关节2位置", "关节3位置", "关节4位置", "关节5位置", "关节6位置", "夹爪位置"]
},
"观测图像.前置摄像头": {
"数据类型": "视频",
"形状": [720, 1280, 3],
"维度说明": ["高度", "宽度", "通道数"],
"视频信息": {
"视频高度": 720,
"视频宽度": 1280,
"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
}
},
"观测图像.侧置摄像头": {
"数据类型": "视频",
"形状": [480, 640, 3],
"维度说明": ["高度", "宽度", "通道数"],
"视频信息": {
"视频高度": 480,
"视频宽度": 640,
"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
}
},
"时间戳": {
"数据类型": "float32",
"形状": [1],
"字段名称": null
},
"帧索引": {
"数据类型": "int64",
"形状": [1],
"字段名称": null
},
"轨迹索引": {
"数据类型": "int64",
"形状": [1],
"字段名称": null
},
"全局索引": {
"数据类型": "int64",
"形状": [1],
"字段名称": null
},
"任务索引": {
"数据类型": "int64",
"形状": [1],
"字段名称": null
}
}
}

## 引用
**BibTeX格式**：
bibtex
[更多信息待补充]