| license: apache-2.0 | |
| language: | |
| - en | |
| - zh | |
| task_categories: | |
| - robotics | |
| tags: | |
| - RobotCoin | |
| - LeRobot | |
| size_categories: <1K | |
| configs: | |
| - config_name: default | |
| data_files: data/*/*.parquet | |
| authors: | |
| contributed_by: | |
| - name: RobotCoin | |
| url: https://RobotCoin.github.io | |
| annotated_by: | |
| - name: RobotCoin | |
| url: https://RobotCoin.github.io | |
| dataset_description: This dataset uses an extended format based on [LeRobot](https://github.com/huggingface/lerobot) | |
| and is fully compatible with LeRobot. | |
| links: | |
| Homepage: https://RobotCoin.github.io/ | |
| Paper: in comming | |
| License: apache-2.0 | |
| tasks: | |
| - stack basket | |
| sub_tasks: | |
| - Pick up the dark basket with the left gripper | |
| - Pick up the dark basket with the right gripper | |
| - Pick up the light basket with the left gripper | |
| - Pick up the light basket with the right gripper | |
| - Place the dark basket in the center of view with the left gripper | |
| - Place the dark basket on the light basket with the right gripper | |
| - Place the light basket in the center of view with the left gripper | |
| - Place the light basket on the dark basket with the right gripper | |
| - abnormal | |
| - end | |
| episodes_num: 0 | |
| frames_num: 0 | |
| dataset_tags: | |
| 场景类型: | |
| - 餐厅 | |
| - 厨房 | |
| - 客厅 | |
| 采集本体: realman | |
| 末端类型: 二指夹爪 | |
| 相机数量: 3 | |
| 相机类型: | |
| - RGBD | |
| - fisheye | |
| 声音传感器数量: 0 | |
| 触觉传感器数量: 0 | |
| 原子动作: | |
| - 抓 | |
| - 拿 | |
| - 放 | |
| - 堆叠 | |
| - 移动 | |
| 物品: | |
| level1: 容器 | |
| level2: 篮子 | |
| level3: 黑色篮子 | |
| level4: null | |
| level5: null | |
| 桌面高度: 77.2cm | |
| structure: | |
| file: meta/info.json | |
| content: "{\n \"codebase_version\": \"v2.1\",\n \"robot_type\": \"realman\"\ | |
| ,\n \"total_episodes\": 499,\n \"total_frames\": 290587,\n \"total_tasks\"\ | |
| : 1,\n \"total_videos\": 1497,\n \"total_chunks\": 1,\n \"chunks_size\"\ | |
| : 1000,\n \"fps\": 25,\n \"splits\": {\n \"train\": \"0:499\"\n \ | |
| \ },\n \"data_path\": \"data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet\"\ | |
| ,\n \"video_path\": \"videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4\"\ | |
| ,\n \"features\": {\n \"observation.images.cam_high\": {\n \ | |
| \ \"dtype\": \"video\",\n \"shape\": [\n 480,\n \ | |
| \ 640,\n 3\n ],\n \"names\"\ | |
| : [\n \"height\",\n \"width\",\n \ | |
| \ \"channels\"\n ],\n \"info\": {\n \"video.fps\"\ | |
| : 25.0,\n \"video.height\": 480,\n \"video.width\"\ | |
| : 640,\n \"video.channels\": 3,\n \"video.codec\"\ | |
| : \"h264\",\n \"video.pix_fmt\": \"yuv420p\",\n \ | |
| \ \"video.is_depth_map\": false,\n \"has_audio\": false\n \ | |
| \ }\n },\n \"observation.images.cam_left_wrist\": {\n \ | |
| \ \"dtype\": \"video\",\n \"shape\": [\n 480,\n\ | |
| \ 640,\n 3\n ],\n \"names\"\ | |
| : [\n \"height\",\n \"width\",\n \ | |
| \ \"channels\"\n ],\n \"info\": {\n \"video.fps\"\ | |
| : 25.0,\n \"video.height\": 480,\n \"video.width\"\ | |
| : 640,\n \"video.channels\": 3,\n \"video.codec\"\ | |
| : \"h264\",\n \"video.pix_fmt\": \"yuv420p\",\n \ | |
| \ \"video.is_depth_map\": false,\n \"has_audio\": false\n \ | |
| \ }\n },\n \"observation.images.cam_right_wrist\": {\n \ | |
| \ \"dtype\": \"video\",\n \"shape\": [\n 480,\n\ | |
| \ 640,\n 3\n ],\n \"names\"\ | |
| : [\n \"height\",\n \"width\",\n \ | |
| \ \"channels\"\n ],\n \"info\": {\n \"video.fps\"\ | |
| : 25.0,\n \"video.height\": 480,\n \"video.width\"\ | |
| : 640,\n \"video.channels\": 3,\n \"video.codec\"\ | |
| : \"h264\",\n \"video.pix_fmt\": \"yuv420p\",\n \ | |
| \ \"video.is_depth_map\": false,\n \"has_audio\": false\n \ | |
| \ }\n },\n \"states\": {\n \"dtype\": \"float32\"\ | |
| ,\n \"shape\": [\n 30\n ],\n \"\ | |
| name\": [\n \"right_arm_joint_1\",\n \"right_arm_joint_2\"\ | |
| ,\n \"right_arm_joint_3\",\n \"right_arm_joint_4\"\ | |
| ,\n \"right_arm_joint_5\",\n \"right_arm_joint_6\"\ | |
| ,\n \"right_arm_joint_7\",\n \"right_gripper_joint\"\ | |
| ,\n \"right_end_effector_positions_x\",\n \"right_end_effector_positions_y\"\ | |
| ,\n \"right_end_effector_positions_z\",\n \"right_end_effector_quat_x\"\ | |
| ,\n \"right_end_effector_quat_y\",\n \"right_end_effector_quat_z\"\ | |
| ,\n \"right_end_effector_quat_w\",\n \"left_arm_joint_1\"\ | |
| ,\n \"left_arm_joint_2\",\n \"left_arm_joint_3\"\ | |
| ,\n \"left_arm_joint_4\",\n \"left_arm_joint_5\"\ | |
| ,\n \"left_arm_joint_6\",\n \"left_arm_joint_7\"\ | |
| ,\n \"left_gripper_joint\",\n \"left_end_effector_positions_x\"\ | |
| ,\n \"left_end_effector_positions_y\",\n \"left_end_effector_positions_z\"\ | |
| ,\n \"left_end_effector_quat_x\",\n \"left_end_effector_quat_y\"\ | |
| ,\n \"left_end_effector_quat_z\",\n \"left_end_effector_quat_w\"\ | |
| \n ]\n },\n \"actions\": {\n \"dtype\": \"\ | |
| float32\",\n \"shape\": [\n 30\n ],\n \ | |
| \ \"name\": [\n \"right_arm_joint_1\",\n \ | |
| \ \"right_arm_joint_2\",\n \"right_arm_joint_3\",\n \ | |
| \ \"right_arm_joint_4\",\n \"right_arm_joint_5\",\n \ | |
| \ \"right_arm_joint_6\",\n \"right_arm_joint_7\",\n \ | |
| \ \"right_gripper_joint\",\n \"right_end_effector_positions_x\"\ | |
| ,\n \"right_end_effector_positions_y\",\n \"right_end_effector_positions_z\"\ | |
| ,\n \"right_end_effector_quat_x\",\n \"right_end_effector_quat_y\"\ | |
| ,\n \"right_end_effector_quat_z\",\n \"right_end_effector_quat_w\"\ | |
| ,\n \"left_arm_joint_1\",\n \"left_arm_joint_2\"\ | |
| ,\n \"left_arm_joint_3\",\n \"left_arm_joint_4\"\ | |
| ,\n \"left_arm_joint_5\",\n \"left_arm_joint_6\"\ | |
| ,\n \"left_arm_joint_7\",\n \"left_gripper_joint\"\ | |
| ,\n \"left_end_effector_positions_x\",\n \"left_end_effector_positions_y\"\ | |
| ,\n \"left_end_effector_positions_z\",\n \"left_end_effector_quat_x\"\ | |
| ,\n \"left_end_effector_quat_y\",\n \"left_end_effector_quat_z\"\ | |
| ,\n \"left_end_effector_quat_w\"\n ]\n },\n \ | |
| \ \"next.done\": {\n \"dtype\": \"bool\",\n \"shape\"\ | |
| : [\n 1\n ],\n \"names\": null\n },\n\ | |
| \ \"timestamp\": {\n \"dtype\": \"float32\",\n \"\ | |
| shape\": [\n 1\n ],\n \"names\": null\n \ | |
| \ },\n \"frame_index\": {\n \"dtype\": \"int64\",\n \ | |
| \ \"shape\": [\n 1\n ],\n \"names\"\ | |
| : null\n },\n \"episode_index\": {\n \"dtype\": \"int64\"\ | |
| ,\n \"shape\": [\n 1\n ],\n \"\ | |
| names\": null\n },\n \"index\": {\n \"dtype\": \"int64\"\ | |
| ,\n \"shape\": [\n 1\n ],\n \"\ | |
| names\": null\n },\n \"task_index\": {\n \"dtype\": \"\ | |
| int64\",\n \"shape\": [\n 1\n ],\n \ | |
| \ \"names\": null\n }\n }\n}" | |
| citation: in comming | |