B1_Station_CloseFridgeDoor
收藏资源简介：
该数据集是使用LeRobot创建的，主要用于机器人技术领域。数据集采用Apache-2.0许可证，包含100个episodes，总计49489帧，涉及1个任务。数据以parquet文件格式存储，总数据文件大小为100MB，视频文件大小为200MB，帧率为30fps。数据集包含丰富的特征信息，包括47个动作特征（如关节位置、速度、加速度、温度、电压等）和83个观测状态特征（如关节位置、速度、加速度、TCP位置等）。此外，数据集还提供了来自手腕、顶部和侧面摄像头的视频数据，分辨率分别为480x864和480x848，视频编码为h264，像素格式为yuv420p。该数据集适用于机器人控制、动作识别和视频分析等任务。
This dataset was developed using LeRobot and is primarily targeted for robotics research and engineering applications. It is licensed under the Apache-2.0 open-source license, containing 100 episodes with a total of 49,489 frames, covering one single task. The non-video data is stored in Parquet file format, with a total size of 100 MB, while the video files have a combined size of 200 MB and a frame rate of 30 fps. The dataset includes comprehensive feature sets, comprising 47 action features (e.g., joint position, velocity, acceleration, temperature, voltage, etc.) and 83 observation state features (e.g., joint position, velocity, acceleration, TCP position, etc.). Additionally, the dataset provides video data captured by wrist-mounted, top-mounted, and side-mounted cameras, with resolutions of 480×864 and 480×848 respectively, using H.264 video coding and YUV420p pixel format. This dataset is suitable for tasks including robot control, action recognition, and video analysis.
数据集概述
基本信息
- 数据集名称: B1_Station_CloseFridgeDoor
- 创建工具: 使用 LeRobot 创建。
- 许可证: Apache 2.0
- 任务类别: 机器人学
- 标签: LeRobot
数据集结构
- 代码库版本: v3.0
- 机器人类型: romoya_lebai_follower
- 总情节数: 100
- 总帧数: 49489
- 总任务数: 1
- 块大小: 1000
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 帧率: 30 FPS
- 数据分割: 训练集 (0:100)
- 数据文件路径模式:
data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet - 视频文件路径模式:
videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
数据特征
动作
- 数据类型: float32
- 形状: [47]
- 特征名称: joint1.pos, joint2.pos, joint3.pos, joint4.pos, joint5.pos, joint6.pos, gripper.pos, gripper.force, DO_0, DO_1, joint1.effort, joint2.effort, joint3.effort, joint4.effort, joint5.effort, joint6.effort, joint1.vel, joint2.vel, joint3.vel, joint4.vel, joint5.vel, joint6.vel, joint1.acc, joint2.acc, joint3.acc, joint4.acc, joint5.acc, joint6.acc, joint1.temp, joint1.voltage, joint2.temp, joint2.voltage, joint3.temp, joint3.voltage, joint4.temp, joint4.voltage, joint5.temp, joint5.voltage, joint6.temp, joint6.voltage, flange_voltage, tcp.x, tcp.y, tcp.z, tcp.rx, tcp.ry, tcp.rz
观测状态
- 数据类型: float32
- 形状: [83]
- 特征名称: joint1.pos, joint2.pos, joint3.pos, joint4.pos, joint5.pos, joint6.pos, gripper.pos, gripper.force, DO_0, DO_1, joint1.effort, joint2.effort, joint3.effort, joint4.effort, joint5.effort, joint6.effort, joint1.vel, joint2.vel, joint3.vel, joint4.vel, joint5.vel, joint6.vel, joint1.acc, joint2.acc, joint3.acc, joint4.acc, joint5.acc, joint6.acc, tcp.x, tcp.y, tcp.z, tcp.rx, tcp.ry, tcp.rz, joint1.temp, joint2.temp, joint3.temp, joint4.temp, joint5.temp, joint6.temp, joint1.voltage, joint2.voltage, joint3.voltage, joint4.voltage, joint5.voltage, joint6.voltage, flange_voltage, flange.x, flange.y, flange.z, flange.rx, flange.ry, flange.rz, target_joint1.pos, target_joint2.pos, target_joint3.pos, target_joint4.pos, target_joint5.pos, target_joint6.pos, target_joint1.vel, target_joint2.vel, target_joint3.vel, target_joint4.vel, target_joint5.vel, target_joint6.vel, target_joint1.acc, target_joint2.acc, target_joint3.acc, target_joint4.acc, target_joint5.acc, target_joint6.acc, target_joint1.effort, target_joint2.effort, target_joint3.effort, target_joint4.effort, target_joint5.effort, target_joint6.effort, target_tcp.x, target_tcp.y, target_tcp.z, target_tcp.rx, target_tcp.ry, target_tcp.rz
观测图像（腕部）
- 数据类型: 视频
- 形状: [480, 864, 3]
- 维度名称: 高度, 宽度, 通道
- 视频信息:
- 高度: 480
- 宽度: 864
- 编解码器: h264
- 像素格式: yuv420p
- 是否为深度图: false
- 帧率: 30
- 通道数: 3
- 包含音频: false
观测图像（顶部）
- 数据类型: 视频
- 形状: [480, 848, 3]
- 维度名称: 高度, 宽度, 通道
- 视频信息:
- 高度: 480
- 宽度: 848
- 编解码器: h264
- 像素格式: yuv420p
- 是否为深度图: false
- 帧率: 30
- 通道数: 3
- 包含音频: false
观测图像（侧面）
- 数据类型: 视频
- 形状: [480, 848, 3]
- 维度名称: 高度, 宽度, 通道
- 视频信息:
- 高度: 480
- 宽度: 848
- 编解码器: h264
- 像素格式: yuv420p
- 是否为深度图: false
- 帧率: 30
- 通道数: 3
- 包含音频: false
其他特征
- 时间戳: 数据类型 float32，形状 [1]
- 帧索引: 数据类型 int64，形状 [1]
- 情节索引: 数据类型 int64，形状 [1]
- 索引: 数据类型 int64，形状 [1]
- 任务索引: 数据类型 int64，形状 [1]
引用信息
- 主页: [More Information Needed]
- 论文: [More Information Needed]
- BibTeX 引用: [More Information Needed]
