mbodiai/xarm_test_1_0806
收藏Hugging Face2024-08-06 更新2025-04-08 收录
下载链接：
https://hf-mirror.com/datasets/mbodiai/xarm_test_1_0806
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资源简介：
---
dataset_info:
features:
- name: image
dtype: image
- name: episode_idx
dtype: int64
- name: step_idx
dtype: int64
- name: timestamp
dtype: float32
- name: observation
struct:
- name: image
dtype: image
- name: task
dtype: string
- name: action
struct:
- name: pose
struct:
- name: x
dtype: float64
- name: y
dtype: float64
- name: z
dtype: float64
- name: roll
dtype: float64
- name: pitch
dtype: float64
- name: yaw
dtype: float64
- name: grasp
dtype: float64
- name: state
struct:
- name: joints
list:
list: float64
- name: pose
struct:
- name: pose
struct:
- name: x
dtype: float64
- name: y
dtype: float64
- name: z
dtype: float64
- name: roll
dtype: float64
- name: pitch
dtype: float64
- name: yaw
dtype: float64
- name: grasp
dtype: float64
- name: is_done
dtype: int64
- name: scene
struct:
- name: image
dtype: image
- name: depth_image
dtype: image
- name: scene_objects
list:
- name: object_name
dtype: string
- name: object_pose
struct:
- name: x
dtype: float64
- name: y
dtype: float64
- name: z
dtype: float64
- name: roll
dtype: float64
- name: pitch
dtype: float64
- name: yaw
dtype: float64
- name: absolute_pose
struct:
- name: pose
struct:
- name: x
dtype: float64
- name: y
dtype: float64
- name: z
dtype: float64
- name: roll
dtype: float64
- name: pitch
dtype: float64
- name: yaw
dtype: float64
- name: grasp
dtype: float64
- name: detection_result
dtype: string
- name: camera_params
struct:
- name: intrinsic
struct:
- name: focal_length_x
dtype: float64
- name: focal_length_y
dtype: float64
- name: optical_center_x
dtype: float64
- name: optical_center_y
dtype: float64
- name: distortion
struct:
- name: k1
dtype: float64
- name: k2
dtype: float64
- name: p1
dtype: float64
- name: p2
dtype: float64
- name: k3
dtype: float64
- name: extrinsic
struct:
- name: rotation_matrix
list:
list: float64
- name: translation_vector
list: float64
- name: rotation_vector
list: float64
- name: depth_scale
dtype: float64
- name: info
struct:
- name: action
struct:
- name: pose
struct:
- name: x
struct:
- name: reference_frame
dtype: string
- name: unit
dtype: string
- name: bounds
dtype: string
- name: y
struct:
- name: reference_frame
dtype: string
- name: unit
dtype: string
- name: bounds
dtype: string
- name: z
struct:
- name: reference_frame
dtype: string
- name: unit
dtype: string
- name: bounds
dtype: string
- name: roll
struct:
- name: reference_frame
dtype: string
- name: unit
dtype: string
- name: bounds
dtype: string
- name: pitch
struct:
- name: reference_frame
dtype: string
- name: unit
dtype: string
- name: bounds
dtype: string
- name: yaw
struct:
- name: reference_frame
dtype: string
- name: unit
dtype: string
- name: bounds
dtype: string
- name: grasp
struct:
- name: reference_frame
dtype: string
- name: unit
dtype: string
- name: bounds
list: int64
- name: shape
dtype: string
- name: absolute_pose
struct:
- name: pose
struct:
- name: x
struct:
- name: reference_frame
dtype: string
- name: unit
dtype: string
- name: bounds
dtype: string
- name: y
struct:
- name: reference_frame
dtype: string
- name: unit
dtype: string
- name: bounds
dtype: string
- name: z
struct:
- name: reference_frame
dtype: string
- name: unit
dtype: string
- name: bounds
dtype: string
- name: roll
struct:
- name: reference_frame
dtype: string
- name: unit
dtype: string
- name: bounds
dtype: string
- name: pitch
struct:
- name: reference_frame
dtype: string
- name: unit
dtype: string
- name: bounds
dtype: string
- name: yaw
struct:
- name: reference_frame
dtype: string
- name: unit
dtype: string
- name: bounds
dtype: string
- name: grasp
struct:
- name: reference_frame
dtype: string
- name: unit
dtype: string
- name: bounds
list: int64
- name: shape
dtype: string
splits:
- name: train
num_bytes: 71679685.0
num_examples: 20
download_size: 29094227
dataset_size: 71679685.0
configs:
- config_name: default
data_files:
- split: train
path: data/train-*
---
提供机构：
mbodiai
