romoya/eval_B3_pick_egg3
收藏Hugging Face2026-04-21 更新2026-04-26 收录
下载链接：
https://hf-mirror.com/datasets/romoya/eval_B3_pick_egg3
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资源简介：
---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
configs:
- config_name: default
data_files: data/*/*.parquet
---
This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=romoya/eval_B3_pick_egg3">
<img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/>
<img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/>
</a>
## Dataset Description
- **Homepage:** [More Information Needed]
- **Paper:** [More Information Needed]
- **License:** apache-2.0
## Dataset Structure
[meta/info.json](meta/info.json):
```json
{
"codebase_version": "v3.0",
"robot_type": "romoya_bi_lebai_follower",
"total_episodes": 17,
"total_frames": 5064,
"total_tasks": 2,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:17"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {
"action": {
"dtype": "float32",
"names": [
"left_joint1.pos",
"left_joint2.pos",
"left_joint3.pos",
"left_joint4.pos",
"left_joint5.pos",
"left_joint6.pos",
"left_DO_0",
"left_DO_1",
"left_joint1.effort",
"left_joint2.effort",
"left_joint3.effort",
"left_joint4.effort",
"left_joint5.effort",
"left_joint6.effort",
"left_joint1.vel",
"left_joint2.vel",
"left_joint3.vel",
"left_joint4.vel",
"left_joint5.vel",
"left_joint6.vel",
"left_joint1.acc",
"left_joint2.acc",
"left_joint3.acc",
"left_joint4.acc",
"left_joint5.acc",
"left_joint6.acc",
"left_joint1.temp",
"left_joint1.voltage",
"left_joint2.temp",
"left_joint2.voltage",
"left_joint3.temp",
"left_joint3.voltage",
"left_joint4.temp",
"left_joint4.voltage",
"left_joint5.temp",
"left_joint5.voltage",
"left_joint6.temp",
"left_joint6.voltage",
"left_flange_voltage",
"left_tcp.x",
"left_tcp.y",
"left_tcp.z",
"left_tcp.rx",
"left_tcp.ry",
"left_tcp.rz",
"right_joint1.pos",
"right_joint2.pos",
"right_joint3.pos",
"right_joint4.pos",
"right_joint5.pos",
"right_joint6.pos",
"right_DO_0",
"right_DO_1",
"right_joint1.effort",
"right_joint2.effort",
"right_joint3.effort",
"right_joint4.effort",
"right_joint5.effort",
"right_joint6.effort",
"right_joint1.vel",
"right_joint2.vel",
"right_joint3.vel",
"right_joint4.vel",
"right_joint5.vel",
"right_joint6.vel",
"right_joint1.acc",
"right_joint2.acc",
"right_joint3.acc",
"right_joint4.acc",
"right_joint5.acc",
"right_joint6.acc",
"right_joint1.temp",
"right_joint1.voltage",
"right_joint2.temp",
"right_joint2.voltage",
"right_joint3.temp",
"right_joint3.voltage",
"right_joint4.temp",
"right_joint4.voltage",
"right_joint5.temp",
"right_joint5.voltage",
"right_joint6.temp",
"right_joint6.voltage",
"right_flange_voltage",
"right_tcp.x",
"right_tcp.y",
"right_tcp.z",
"right_tcp.rx",
"right_tcp.ry",
"right_tcp.rz",
"left_gripper.pos",
"left_gripper.force",
"right_gripper.pos",
"right_gripper.force"
],
"shape": [
94
]
},
"observation.state": {
"dtype": "float32",
"names": [
"left_joint1.pos",
"left_joint2.pos",
"left_joint3.pos",
"left_joint4.pos",
"left_joint5.pos",
"left_joint6.pos",
"left_gripper.pos",
"left_gripper.force",
"left_DO_0",
"left_DO_1",
"left_joint1.effort",
"left_joint2.effort",
"left_joint3.effort",
"left_joint4.effort",
"left_joint5.effort",
"left_joint6.effort",
"left_joint1.vel",
"left_joint2.vel",
"left_joint3.vel",
"left_joint4.vel",
"left_joint5.vel",
"left_joint6.vel",
"left_joint1.acc",
"left_joint2.acc",
"left_joint3.acc",
"left_joint4.acc",
"left_joint5.acc",
"left_joint6.acc",
"left_tcp.x",
"left_tcp.y",
"left_tcp.z",
"left_tcp.rx",
"left_tcp.ry",
"left_tcp.rz",
"left_joint1.temp",
"left_joint2.temp",
"left_joint3.temp",
"left_joint4.temp",
"left_joint5.temp",
"left_joint6.temp",
"left_joint1.voltage",
"left_joint2.voltage",
"left_joint3.voltage",
"left_joint4.voltage",
"left_joint5.voltage",
"left_joint6.voltage",
"left_flange_voltage",
"left_flange.x",
"left_flange.y",
"left_flange.z",
"left_flange.rx",
"left_flange.ry",
"left_flange.rz",
"left_target_joint1.pos",
"left_target_joint2.pos",
"left_target_joint3.pos",
"left_target_joint4.pos",
"left_target_joint5.pos",
"left_target_joint6.pos",
"left_target_joint1.vel",
"left_target_joint2.vel",
"left_target_joint3.vel",
"left_target_joint4.vel",
"left_target_joint5.vel",
"left_target_joint6.vel",
"left_target_joint1.acc",
"left_target_joint2.acc",
"left_target_joint3.acc",
"left_target_joint4.acc",
"left_target_joint5.acc",
"left_target_joint6.acc",
"left_target_joint1.effort",
"left_target_joint2.effort",
"left_target_joint3.effort",
"left_target_joint4.effort",
"left_target_joint5.effort",
"left_target_joint6.effort",
"left_target_tcp.x",
"left_target_tcp.y",
"left_target_tcp.z",
"left_target_tcp.rx",
"left_target_tcp.ry",
"left_target_tcp.rz",
"right_joint1.pos",
"right_joint2.pos",
"right_joint3.pos",
"right_joint4.pos",
"right_joint5.pos",
"right_joint6.pos",
"right_gripper.pos",
"right_gripper.force",
"right_DO_0",
"right_DO_1",
"right_joint1.effort",
"right_joint2.effort",
"right_joint3.effort",
"right_joint4.effort",
"right_joint5.effort",
"right_joint6.effort",
"right_joint1.vel",
"right_joint2.vel",
"right_joint3.vel",
"right_joint4.vel",
"right_joint5.vel",
"right_joint6.vel",
"right_joint1.acc",
"right_joint2.acc",
"right_joint3.acc",
"right_joint4.acc",
"right_joint5.acc",
"right_joint6.acc",
"right_tcp.x",
"right_tcp.y",
"right_tcp.z",
"right_tcp.rx",
"right_tcp.ry",
"right_tcp.rz",
"right_joint1.temp",
"right_joint2.temp",
"right_joint3.temp",
"right_joint4.temp",
"right_joint5.temp",
"right_joint6.temp",
"right_joint1.voltage",
"right_joint2.voltage",
"right_joint3.voltage",
"right_joint4.voltage",
"right_joint5.voltage",
"right_joint6.voltage",
"right_flange_voltage",
"right_flange.x",
"right_flange.y",
"right_flange.z",
"right_flange.rx",
"right_flange.ry",
"right_flange.rz",
"right_target_joint1.pos",
"right_target_joint2.pos",
"right_target_joint3.pos",
"right_target_joint4.pos",
"right_target_joint5.pos",
"right_target_joint6.pos",
"right_target_joint1.vel",
"right_target_joint2.vel",
"right_target_joint3.vel",
"right_target_joint4.vel",
"right_target_joint5.vel",
"right_target_joint6.vel",
"right_target_joint1.acc",
"right_target_joint2.acc",
"right_target_joint3.acc",
"right_target_joint4.acc",
"right_target_joint5.acc",
"right_target_joint6.acc",
"right_target_joint1.effort",
"right_target_joint2.effort",
"right_target_joint3.effort",
"right_target_joint4.effort",
"right_target_joint5.effort",
"right_target_joint6.effort",
"right_target_tcp.x",
"right_target_tcp.y",
"right_target_tcp.z",
"right_target_tcp.rx",
"right_target_tcp.ry",
"right_target_tcp.rz"
],
"shape": [
166
]
},
"observation.images.left_wrist": {
"dtype": "video",
"shape": [
360,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 360,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.right_wrist": {
"dtype": "video",
"shape": [
360,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 360,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.base": {
"dtype": "video",
"shape": [
360,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 360,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
```
## Citation
**BibTeX:**
```bibtex
[More Information Needed]
```
提供机构：
romoya
