posky02/dataset19

---
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=posky02/dataset19">
<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": "so_follower",
"total_episodes": 10,
"total_frames": 4174,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 1000,
"video_files_size_in_mb": 20000,
"fps": 15,
"splits": {
"train": "0:10"
},
"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",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6
]
},
"observation.state": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6
]
},
"observation.images.reachy": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"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。

您可通过以下链接可视化本数据集：
<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=posky02/dataset19">
<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>

## 数据集说明
- **项目主页：** [待补充更多信息]
- **相关论文：** [待补充更多信息]
- **许可证：** Apache-2.0

## 数据集结构
`meta/info.json`文件内容如下：
json
{
"代码库版本": "v3.0",
"机器人类型": "so_follower",
"总回合数": 10,
"总帧数": 4174,
"总任务数": 1,
"分块大小": 1000,
"数据文件总容量（MB）": 1000,
"视频文件总容量（MB）": 20000,
"帧率": 15,
"数据集划分": {
"训练集": "0:10"
},
"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": {
"action（动作）": {
"数据类型": "float32",
"关节名称": [
"shoulder_pan.pos（肩摆关节位置）",
"shoulder_lift.pos（肩抬关节位置）",
"elbow_flex.pos（肘屈关节位置）",
"wrist_flex.pos（腕屈关节位置）",
"wrist_roll.pos（腕转关节位置）",
"gripper.pos（夹爪位置）"
],
"数据形状": [
6
]
},
"observation.state（观测状态）": {
"数据类型": "float32",
"关节名称": [
"shoulder_pan.pos（肩摆关节位置）",
"shoulder_lift.pos（肩抬关节位置）",
"elbow_flex.pos（肘屈关节位置）",
"wrist_flex.pos（腕屈关节位置）",
"wrist_roll.pos（腕转关节位置）",
"gripper.pos（夹爪位置）"
],
"数据形状": [
6
]
},
"observation.images.reachy（Reachy相机图像）": {
"数据类型": "视频",
"数据形状": [
480,
640,
3
],
"维度名称": [
"height（高度）",
"width（宽度）",
"channels（通道数）"
],
"详细信息": {
"视频高度": 480,
"视频宽度": 640,
"视频编码格式": "h264",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 15,
"视频通道数": 3,
"是否包含音频": false
}
},
"timestamp（时间戳）": {
"数据类型": "float32",
"数据形状": [
1
],
"维度名称": null
},
"frame_index（帧索引）": {
"数据类型": "int64",
"数据形状": [
1
],
"维度名称": null
},
"episode_index（回合索引）": {
"数据类型": "int64",
"数据形状": [
1
],
"维度名称": null
},
"index（全局索引）": {
"数据类型": "int64",
"数据形状": [
1
],
"维度名称": null
},
"task_index（任务索引）": {
"数据类型": "int64",
"数据形状": [
1
],
"维度名称": null
}
}
}

## 参考文献
**BibTeX格式参考文献：**
bibtex
[待补充更多信息]