Movimento_2_20260723_125218
收藏资源简介：
该数据集是一个基于LeRobot创建的机器人数据集，专为机器人任务设计。它包含动作和观测状态特征，具体涉及6个关节位置：肩部旋转、肩部提升、肘部弯曲、手腕弯曲、手腕旋转和夹爪位置。此外，数据集还包括时间戳、帧索引、episode索引等元数据。数据以30帧/秒的速率采集，总共有5个episodes和1675帧。数据文件为parquet格式，视频文件为mp4格式。机器人类型为so_follower，数据集结构支持训练分割，数据大小为100MB，视频大小为200MB。
This is a robotics dataset developed based on LeRobot, specifically tailored for robotic tasks. It includes action and observation state features, covering six joint positions: shoulder rotation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper position. Additionally, the dataset contains metadata such as timestamps, frame indices, and episode indices. The data is collected at a rate of 30 frames per second, with a total of 5 episodes and 1675 frames. The data files are stored in Parquet format, while the video files are in MP4 format. The robot type is so_follower. The dataset structure supports training splits, with the total data size being 100 MB and the video size totaling 200 MB.
数据集概述
- 名称: Movimento_2_20260723_125218
- 许可证: Apache-2.0
- 任务类别: 机器人学 (Robotics)
- 标签: LeRobot, Robotics, Lerobot, LeLab
数据集结构
- 数据格式: Parquet (动作、状态、时间戳等) + MP4 (视频)
- 数据类型与形状:
action(float32, shape [6]): 包含6个关节的位置信息 (shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos)observation.state(float32, shape [6]): 与action相同的6个关节位置状态timestamp(float32, shape [1]): 时间戳frame_index(int64, shape [1]): 帧索引episode_index(int64, shape [1]): 片段索引index(int64, shape [1]): 全局索引task_index(int64, shape [1]): 任务索引
数据规模
- 总片段数: 5
- 总帧数: 1675
- 总任务数: 1
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
数据划分
- 训练集: 所有5个片段 (split:
train: "0:5")
配置与路径
- 配置名称: default
- 数据文件:
data/*/*.parquet - 机器人类型:
so_follower - 采样帧率 (FPS): 30
- 代码库版本: v3.0
引用
- 引用信息: 待补充 (目前标记为 [More Information Needed])
