pick_and_place_7

该数据集使用LeRobot创建，专注于机器人技术领域，具体涉及omx_follower机器人类型。数据集包含动作数据（如肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置）、观察状态（与动作相同的关节位置）、前摄像头图像（分辨率为480x640，3通道），以及时间戳、帧索引、episode索引、索引和任务索引等元数据。数据以parquet文件格式存储，视频以mp4格式存储，帧率为30fps。数据集结构支持分块处理，总episodes、总帧数和总任务数在元数据中显示为0，可能需要动态填充。

This dataset is created using LeRobot and focuses on the field of robotics, specifically involving the omx_follower robot type. It includes action data (such as shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper position), observation states (joint positions identical to the actions), front camera images (with a resolution of 480x640, 3 channels), and metadata such as timestamps, frame indices, episode indices, indices, and task indices. The data is stored in parquet file format, with videos in mp4 format at a frame rate of 30fps. The dataset structure supports chunked processing, and the total episodes, total frames, and total tasks are displayed as 0 in the metadata, which may need to be dynamically populated.

原始信息汇总

数据集概述

• 数据集名称: pick_and_place_7
• 许可证: Apache-2.0
• 任务类别: 机器人学 (robotics)
• 标签: LeRobot
• 创建工具: 使用 LeRobot 创建

数据集结构

• 机器人类型: omx_follower
• 总片段数: 0
• 总帧数: 0
• 总任务数: 0
• 帧率: 30 FPS
• 数据块大小: 1000
• 数据文件大小: 100 MB
• 视频文件大小: 200 MB
• 数据路径: data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
• 视频路径: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4

特征信息

特征字段	数据类型	形状	说明
action	float32	[6]	包含6个关节位置：shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos
observation.state	float32	[6]	机器人状态观测，与action字段的关节名称一致
observation.images.front	video	[480, 640, 3]	前置摄像头视频，分辨率为480x640，3通道(RGB)
timestamp	float32	[1]	时间戳
frame_index	int64	[1]	帧索引
episode_index	int64	[1]	片段索引
index	int64	[1]	索引
task_index	int64	[1]	任务索引