aloha_static_fork_pick_up

This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).

[meta/info.json](meta/info.json)
```json
{
"codebase_version": "v2.0",
"data_path": "data/train-{episode_index:05d}-of-{total_episodes:05d}.parquet",
"robot_type": "aloha",
"total_episodes": 100,
"total_frames": 60000,
"total_tasks": 1,
"fps": 50,
"splits": {
"train": "0:100"
},
"keys": [
"observation.state",
"observation.effort",
"action"
],
"video_keys": [
"observation.images.cam_high",
"observation.images.cam_left_wrist",
"observation.images.cam_low",
"observation.images.cam_right_wrist"
],
"image_keys": [],
"shapes": {
"observation.state": 14,
"observation.effort": 14,
"action": 14,
"observation.images.cam_high": {
"width": 640,
"height": 480,
"channels": 3
},
"observation.images.cam_left_wrist": {
"width": 640,
"height": 480,
"channels": 3
},
"observation.images.cam_low": {
"width": 640,
"height": 480,
"channels": 3
},
"observation.images.cam_right_wrist": {
"width": 640,
"height": 480,
"channels": 3
}
},
"names": {
"observation.state": [
"left_waist",
"left_shoulder",
"left_elbow",
"left_forearm_roll",
"left_wrist_angle",
"left_wrist_rotate",
"left_gripper",
"right_waist",
"right_shoulder",
"right_elbow",
"right_forearm_roll",
"right_wrist_angle",
"right_wrist_rotate",
"right_gripper"
],
"action": [
"left_waist",
"left_shoulder",
"left_elbow",
"left_forearm_roll",
"left_wrist_angle",
"left_wrist_rotate",
"left_gripper",
"right_waist",
"right_shoulder",
"right_elbow",
"right_forearm_roll",
"right_wrist_angle",
"right_wrist_rotate",
"right_gripper"
],
"observation.effort": [
"left_waist",
"left_shoulder",
"left_elbow",
"left_forearm_roll",
"left_wrist_angle",
"left_wrist_rotate",
"left_gripper",
"right_waist",
"right_shoulder",
"right_elbow",
"right_forearm_roll",
"right_wrist_angle",
"right_wrist_rotate",
"right_gripper"
]
},
"videos": {
"videos_path": "videos/{video_key}_episode_{episode_index:06d}.mp4",
"observation.images.cam_high": {
"video.fps": 50.0,
"video.width": 640,
"video.height": 480,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
},
"observation.images.cam_left_wrist": {
"video.fps": 50.0,
"video.width": 640,
"video.height": 480,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
},
"observation.images.cam_low": {
"video.fps": 50.0,
"video.width": 640,
"video.height": 480,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
},
"observation.images.cam_right_wrist": {
"video.fps": 50.0,
"video.width": 640,
"video.height": 480,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
}
}
```

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

文件[meta/info.json](meta/info.json)的内容如下：
json
{
"代码库版本": "v2.0",
"数据路径": "data/train-{episode_index:05d}-of-{total_episodes:05d}.parquet",
"机器人类型": "aloha",
"总回合数": 100,
"总帧数": 60000,
"总任务数": 1,
"帧率": 50,
"数据划分": {
"训练集": "0:100"
},
"数据键列表": [
"观测状态(observation.state)",
"观测力矩(observation.effort)",
"动作指令(action)"
],
"视频观测键列表": [
"观测图像.高位相机(observation.images.cam_high)",
"观测图像.左侧腕部相机(observation.images.cam_left_wrist)",
"观测图像.低位相机(observation.images.cam_low)",
"观测图像.右侧腕部相机(observation.images.cam_right_wrist)"
],
"图像观测键列表": [],
"数据维度信息": {
"观测状态(observation.state)": 14,
"观测力矩(observation.effort)": 14,
"动作指令(action)": 14,
"观测图像.高位相机(observation.images.cam_high)": {
"宽度": 640,
"高度": 480,
"通道数": 3
},
"观测图像.左侧腕部相机(observation.images.cam_left_wrist)": {
"宽度": 640,
"高度": 480,
"通道数": 3
},
"观测图像.低位相机(observation.images.cam_low)": {
"宽度": 640,
"高度": 480,
"通道数": 3
},
"观测图像.右侧腕部相机(observation.images.cam_right_wrist)": {
"宽度": 640,
"高度": 480,
"通道数": 3
}
},
"维度名称映射": {
"观测状态(observation.state)": [
"左侧腰部关节",
"左侧肩部关节",
"左侧肘部关节",
"左侧前臂旋转关节",
"左侧腕关节角度",
"左侧腕关节旋转",
"左手夹爪",
"右侧腰部关节",
"右侧肩部关节",
"右侧肘部关节",
"右侧前臂旋转关节",
"右侧腕关节角度",
"右侧腕关节旋转",
"右手夹爪"
],
"动作指令(action)": [
"左侧腰部关节",
"左侧肩部关节",
"左侧肘部关节",
"左侧前臂旋转关节",
"左侧腕关节角度",
"左侧腕关节旋转",
"左手夹爪",
"右侧腰部关节",
"右侧肩部关节",
"右侧肘部关节",
"右侧前臂旋转关节",
"右侧腕关节角度",
"右侧腕关节旋转",
"右手夹爪"
],
"观测力矩(observation.effort)": [
"左侧腰部关节",
"左侧肩部关节",
"左侧肘部关节",
"左侧前臂旋转关节",
"左侧腕关节角度",
"左侧腕关节旋转",
"左手夹爪",
"右侧腰部关节",
"右侧肩部关节",
"右侧肘部关节",
"右侧前臂旋转关节",
"右侧腕关节角度",
"右侧腕关节旋转",
"右手夹爪"
]
},
"视频配置信息": {
"视频存储路径": "videos/{video_key}_episode_{episode_index:06d}.mp4",
"观测图像.高位相机(observation.images.cam_high)": {
"视频帧率": 50.0,
"视频宽度": 640,
"视频高度": 480,
"视频通道数": 3,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"是否包含音频": false
},
"观测图像.左侧腕部相机(observation.images.cam_left_wrist)": {
"视频帧率": 50.0,
"视频宽度": 640,
"视频高度": 480,
"视频通道数": 3,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"是否包含音频": false
},
"观测图像.低位相机(observation.images.cam_low)": {
"视频帧率": 50.0,
"视频宽度": 640,
"视频高度": 480,
"视频通道数": 3,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"是否包含音频": false
},
"观测图像.右侧腕部相机(observation.images.cam_right_wrist)": {
"视频帧率": 50.0,
"视频宽度": 640,
"视频高度": 480,
"视频通道数": 3,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"是否包含音频": false
}
}
}