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