team-sobits/sobit_home-pickup_the_block-gazebo
收藏Hugging Face2026-05-26 更新2026-05-31 收录
下载链接：
https://hf-mirror.com/datasets/team-sobits/sobit_home-pickup_the_block-gazebo
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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=team-sobits/sobit_home-pickup_the_block-gazebo">
<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": "mobile_manipulator",
"total_episodes": 202,
"total_frames": 19404,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 6,
"splits": {
"train": "0:202"
},
"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",
"shape": [
32
],
"names": [
"head_pan_joint",
"head_tilt_joint",
"body_lift_joint",
"arm_left_shoulder_tilt_joint",
"arm_left_upper_roll_joint",
"arm_left_upper_flex_joint",
"arm_left_elbow_joint",
"arm_left_wrist_tilt_joint",
"arm_left_wrist_roll_joint",
"arm_right_shoulder_tilt_joint",
"arm_right_upper_roll_joint",
"arm_right_upper_flex_joint",
"arm_right_elbow_joint",
"arm_right_wrist_tilt_joint",
"arm_right_wrist_roll_joint",
"hand_left_finger_l_mcp_joint",
"hand_left_finger_l_pip_joint",
"hand_left_finger_l_dip_joint",
"hand_left_finger_c_mcp_joint",
"hand_left_finger_c_ip_joint",
"hand_left_finger_r_pip_joint",
"hand_left_finger_r_dip_joint",
"hand_right_finger_l_mcp_joint",
"hand_right_finger_l_pip_joint",
"hand_right_finger_l_dip_joint",
"hand_right_finger_c_mcp_joint",
"hand_right_finger_c_ip_joint",
"hand_right_finger_r_pip_joint",
"hand_right_finger_r_dip_joint",
"base_x",
"base_y",
"base_theta"
]
},
"action.is_fresh": {
"dtype": "bool",
"shape": [
32
],
"names": null
},
"action.delta": {
"dtype": "float32",
"shape": [
32
],
"names": [
"head_pan_joint",
"head_tilt_joint",
"body_lift_joint",
"arm_left_shoulder_tilt_joint",
"arm_left_upper_roll_joint",
"arm_left_upper_flex_joint",
"arm_left_elbow_joint",
"arm_left_wrist_tilt_joint",
"arm_left_wrist_roll_joint",
"arm_right_shoulder_tilt_joint",
"arm_right_upper_roll_joint",
"arm_right_upper_flex_joint",
"arm_right_elbow_joint",
"arm_right_wrist_tilt_joint",
"arm_right_wrist_roll_joint",
"hand_left_finger_l_mcp_joint",
"hand_left_finger_l_pip_joint",
"hand_left_finger_l_dip_joint",
"hand_left_finger_c_mcp_joint",
"hand_left_finger_c_ip_joint",
"hand_left_finger_r_pip_joint",
"hand_left_finger_r_dip_joint",
"hand_right_finger_l_mcp_joint",
"hand_right_finger_l_pip_joint",
"hand_right_finger_l_dip_joint",
"hand_right_finger_c_mcp_joint",
"hand_right_finger_c_ip_joint",
"hand_right_finger_r_pip_joint",
"hand_right_finger_r_dip_joint",
"base_x",
"base_y",
"base_theta"
]
},
"action.delta.is_fresh": {
"dtype": "bool",
"shape": [
32
],
"names": null
},
"observation.state": {
"dtype": "float32",
"shape": [
32
],
"names": [
"head_pan_joint",
"head_tilt_joint",
"body_lift_joint",
"arm_left_shoulder_tilt_joint",
"arm_left_upper_roll_joint",
"arm_left_upper_flex_joint",
"arm_left_elbow_joint",
"arm_left_wrist_tilt_joint",
"arm_left_wrist_roll_joint",
"arm_right_shoulder_tilt_joint",
"arm_right_upper_roll_joint",
"arm_right_upper_flex_joint",
"arm_right_elbow_joint",
"arm_right_wrist_tilt_joint",
"arm_right_wrist_roll_joint",
"hand_left_finger_l_mcp_joint",
"hand_left_finger_l_pip_joint",
"hand_left_finger_l_dip_joint",
"hand_left_finger_c_mcp_joint",
"hand_left_finger_c_ip_joint",
"hand_left_finger_r_pip_joint",
"hand_left_finger_r_dip_joint",
"hand_right_finger_l_mcp_joint",
"hand_right_finger_l_pip_joint",
"hand_right_finger_l_dip_joint",
"hand_right_finger_c_mcp_joint",
"hand_right_finger_c_ip_joint",
"hand_right_finger_r_pip_joint",
"hand_right_finger_r_dip_joint",
"base_x",
"base_y",
"base_theta"
]
},
"observation.state.is_fresh": {
"dtype": "bool",
"shape": [
32
],
"names": null
},
"action.base": {
"dtype": "float32",
"shape": [
3
],
"names": [
"base_x",
"base_y",
"base_theta"
]
},
"action.base.is_fresh": {
"dtype": "bool",
"shape": [
3
],
"names": null
},
"observation.ee_pose.left": {
"dtype": "float32",
"shape": [
6
],
"names": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw"
]
},
"observation.ee_pose.left.delta": {
"dtype": "float32",
"shape": [
6
],
"names": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw"
]
},
"observation.ee_pose.right": {
"dtype": "float32",
"shape": [
6
],
"names": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw"
]
},
"observation.ee_pose.right.delta": {
"dtype": "float32",
"shape": [
6
],
"names": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw"
]
},
"observation.images.head_camera": {
"dtype": "video",
"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 6,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.hand_left_camera": {
"dtype": "video",
"shape": [
3,
1200,
1920
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.height": 1200,
"video.width": 1920,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 6,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.hand_right_camera": {
"dtype": "video",
"shape": [
3,
1200,
1920
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.height": 1200,
"video.width": 1920,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 6,
"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
}
},
"robot_info": {
"name": "sobit_home",
"version": "1.0.0",
"morphology": {
"type": "mobile_manipulator",
"joint_states_topic": "/sobit_home/joint_states",
"parts": [
"head",
"body",
"arm_left",
"arm_right",
"end_effector_left",
"end_effector_right",
"mobile_base"
],
"head": {
"is_actionable": true,
"command_topic": "/sobit_home/head_position_controller/joint_trajectory",
"state_topic": "/sobit_home/head_position_controller/controller_state",
"actions": [
"/sobit_home/head_position_controller/follow_joint_trajectory"
],
"joint_names": [
"head_pan_joint",
"head_tilt_joint"
]
},
"body": {
"is_actionable": true,
"command_topic": "/sobit_home/body_position_controller/joint_trajectory",
"state_topic": "/sobit_home/body_position_controller/controller_state",
"actions": [
"/sobit_home/body_position_controller/follow_joint_trajectory"
],
"joint_names": [
"body_lift_joint"
]
},
"arm_left": {
"is_actionable": true,
"command_topic": "/sobit_home/arm_left_position_controller/joint_trajectory",
"state_topic": "/sobit_home/arm_left_position_controller/controller_state",
"actions": [
"/sobit_home/arm_left_position_controller/follow_joint_trajectory"
],
"joint_names": [
"arm_left_shoulder_tilt_joint",
"arm_left_upper_roll_joint",
"arm_left_upper_flex_joint",
"arm_left_elbow_joint",
"arm_left_wrist_tilt_joint",
"arm_left_wrist_roll_joint"
]
},
"arm_right": {
"is_actionable": true,
"command_topic": "/sobit_home/arm_right_position_controller/joint_trajectory",
"state_topic": "/sobit_home/arm_right_position_controller/controller_state",
"actions": [
"/sobit_home/arm_right_position_controller/follow_joint_trajectory"
],
"joint_names": [
"arm_right_shoulder_tilt_joint",
"arm_right_upper_roll_joint",
"arm_right_upper_flex_joint",
"arm_right_elbow_joint",
"arm_right_wrist_tilt_joint",
"arm_right_wrist_roll_joint"
]
},
"end_effector_left": {
"is_actionable": true,
"command_topic": "/sobit_home/hand_left_position_controller/joint_trajectory",
"state_topic": "/sobit_home/hand_left_position_controller/controller_state",
"actions": [
"/sobit_home/hand_left_position_controller/follow_joint_trajectory"
],
"joint_names": [
"hand_left_finger_l_mcp_joint",
"hand_left_finger_l_pip_joint",
"hand_left_finger_l_dip_joint",
"hand_left_finger_c_mcp_joint",
"hand_left_finger_c_ip_joint",
"hand_left_finger_r_mcp_joint",
"hand_left_finger_r_pip_joint",
"hand_left_finger_r_dip_joint"
]
},
"end_effector_right": {
"is_actionable": true,
"command_topic": "/sobit_home/hand_right_position_controller/joint_trajectory",
"state_topic": "/sobit_home/hand_right_position_controller/controller_state",
"actions": [
"/sobit_home/hand_right_position_controller/follow_joint_trajectory"
],
"joint_names": [
"hand_right_finger_l_mcp_joint",
"hand_right_finger_l_pip_joint",
"hand_right_finger_l_dip_joint",
"hand_right_finger_c_mcp_joint",
"hand_right_finger_c_ip_joint",
"hand_right_finger_r_mcp_joint",
"hand_right_finger_r_pip_joint",
"hand_right_finger_r_dip_joint"
]
},
"mobile_base": {
"is_actionable": true,
"has_cmd_vel_y": true,
"has_cmd_vel_z": false,
"cmd_vel_topic": "/sobit_home/cmd_vel",
"odom_topic": "/sobit_home/odom",
"joint_names": [
"wheel_steer_f_l_joint",
"wheel_steer_f_r_joint",
"wheel_steer_b_l_joint",
"wheel_steer_b_r_joint",
"wheel_drive_f_l_joint",
"wheel_drive_f_r_joint",
"wheel_drive_b_l_joint",
"wheel_drive_b_r_joint"
]
}
},
"sensors": {
"types": [
"rgb_cam"
],
"rgb_cam": {
"names": [
"head_camera",
"hand_left_camera",
"hand_right_camera"
],
"models": [
"orbbec_336l",
"elp_usbgs1200p01_h120_j",
"elp_usbgs1200p01_h120_j"
],
"topics": [],
"info_topics": [
"/sobit_home/head_camera/color/camera_info",
"/sobit_home/hand_left_camera/color/camera_info",
"/sobit_home/hand_right_camera/color/camera_info"
],
"compressed_topics": [
"/sobit_home/head_camera/color/image_raw/compressed",
"/sobit_home/hand_left_camera/color/image_raw/compressed",
"/sobit_home/hand_right_camera/color/image_raw/compressed"
],
"properties": {
"head_camera": {
"width": 640,
"height": 480,
"topic": "/sobit_home/head_camera/color/camera_info"
},
"hand_left_camera": {
"width": 1920,
"height": 1200,
"topic": "/sobit_home/hand_left_camera/color/camera_info"
},
"hand_right_camera": {
"width": 1920,
"height": 1200,
"topic": "/sobit_home/hand_right_camera/color/camera_info"
}
}
}
}
},
"user_info": {
"name": "",
"email": "",
"location": ""
}
}
```
## Citation
**BibTeX:**
```bibtex
[More Information Needed]
```
提供机构：
team-sobits
