wiscohumanoids/alohamini_cube_place_5dof_v20

--- 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). ## 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": "lekiwi_client", "total_episodes": 36, "total_frames": 25234, "total_tasks": 2, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "fps": 30, "splits": { "train": "0:36" }, "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": [ 16 ], "names": [ "arm_left_shoulder_pan.pos", "arm_left_shoulder_lift.pos", "arm_left_elbow_flex.pos", "arm_left_wrist_flex.pos", "arm_left_wrist_roll.pos", "arm_left_gripper.pos", "arm_right_shoulder_pan.pos", "arm_right_shoulder_lift.pos", "arm_right_elbow_flex.pos", "arm_right_wrist_flex.pos", "arm_right_wrist_roll.pos", "arm_right_gripper.pos", "x.vel", "y.vel", "theta.vel", "lift_axis.height_mm" ] }, "observation.state": { "dtype": "float32", "shape": [ 16 ], "names": [ "arm_left_shoulder_pan.pos", "arm_left_shoulder_lift.pos", "arm_left_elbow_flex.pos", "arm_left_wrist_flex.pos", "arm_left_wrist_roll.pos", "arm_left_gripper.pos", "arm_right_shoulder_pan.pos", "arm_right_shoulder_lift.pos", "arm_right_elbow_flex.pos", "arm_right_wrist_flex.pos", "arm_right_wrist_roll.pos", "arm_right_gripper.pos", "x.vel", "y.vel", "theta.vel", "lift_axis.height_mm" ] }, "observation.images.head_top": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.wrist_right": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "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] ```许可证：Apache-2.0 任务类别： - 机器人学 标签： - LeRobot 配置项： - 配置名称：default 数据文件：data/*/*.parquet --- 本数据集基于[LeRobot](https://github.com/huggingface/lerobot)构建。 ## 数据集说明 - **"主页"**：[需补充更多信息] - **"论文"**：[需补充更多信息] - **"许可证"**：Apache-2.0 ## 数据集结构 `meta/info.json`文件内容如下： json { "代码库版本": "v3.0", "机器人类型": "lekiwi_client", "总回合数": 36, "总帧数": 25234, "总任务数": 2, "分块大小": 1000, "数据文件总大小（MB）": 100, "视频文件总大小（MB）": 200, "帧率": 30, "数据集划分": { "训练集": "0:36" }, "数据文件路径格式": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", "视频文件路径格式": "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": [16], "维度名称": [ "左臂肩回转关节位置", "左臂肩升降关节位置", "左臂肘屈伸关节位置", "左臂腕屈伸关节位置", "左臂腕横滚关节位置", "左臂夹爪位置", "右臂肩回转关节位置", "右臂肩升降关节位置", "右臂肘屈伸关节位置", "右臂腕屈伸关节位置", "右臂腕横滚关节位置", "右臂夹爪位置", "X方向线速度", "Y方向线速度", "角速度（θ）", "升降轴高度（毫米）" ] }, "观测状态": { "数据类型": "float32", "形状": [16], "维度名称": [ "左臂肩回转关节位置", "左臂肩升降关节位置", "左臂肘屈伸关节位置", "左臂腕屈伸关节位置", "左臂腕横滚关节位置", "左臂夹爪位置", "右臂肩回转关节位置", "右臂肩升降关节位置", "右臂肘屈伸关节位置", "右臂腕屈伸关节位置", "右臂腕横滚关节位置", "右臂夹爪位置", "X方向线速度", "Y方向线速度", "角速度（θ）", "升降轴高度（毫米）" ] }, "观测图像.头顶摄像头": { "数据类型": "video", "形状": [480, 640, 3], "维度名称": ["高度", "宽度", "通道数"], "详细信息": { "视频高度": 480, "视频宽度": 640, "视频编码格式": "av1", "视频像素格式": "yuv420p", "是否为深度图": false, "视频帧率": 30, "视频通道数": 3, "是否包含音频": false } }, "观测图像.右腕摄像头": { "数据类型": "video", "形状": [480, 640, 3], "维度名称": ["高度", "宽度", "通道数"], "详细信息": { "视频高度": 480, "视频宽度": 640, "视频编码格式": "av1", "视频像素格式": "yuv420p", "是否为深度图": false, "视频帧率": 30, "视频通道数": 3, "是否包含音频": false } }, "时间戳": { "数据类型": "float32", "形状": [1], "维度名称": null }, "帧索引": { "数据类型": "int64", "形状": [1], "维度名称": null }, "回合索引": { "数据类型": "int64", "形状": [1], "维度名称": null }, "全局索引": { "数据类型": "int64", "形状": [1], "维度名称": null }, "任务索引": { "数据类型": "int64", "形状": [1], "维度名称": null } } } ## 引用 **BibTeX格式**： bibtex [需补充更多信息]