BlockPAP-v0_Real

BlockPAP-v0 Real 是一个用于 BlockPAP 真实轨迹的数据集，属于 LeRobot v2.1 数据集的一部分，包含两个相机视图的数据。数据集语言为英语，采用 Apache 2.0 许可证。数据文件以 parquet 格式存储，路径为 data/chunk-000/*.parquet。需要注意的是，Franka Research 3 机器人的坐标系存在一些遗留问题，导致记录的末端执行器状态存在系统偏移。具体表现为：当末端执行器垂直向下且无偏航旋转时，state[5]（z轴欧拉角）存在恒定的 -45° 偏移；此外，由于末端执行器参考点的选择不同，记录的 state[2]（z位置）通常比夹持器中心高约10厘米。这些偏移在使用数据集时需要特别注意。

BlockPAP-v0 Real is a dataset for real-world BlockPAP trajectories, which is part of the LeRobot v2.1 dataset collection. It includes data from two camera views. The dataset is in English and licensed under the Apache 2.0 license. Data files are stored in Parquet format, with the storage path being data/chunk-000/*.parquet. It should be noted that there are legacy coordinate system issues with the Franka Research 3 robot, which result in systematic offsets in the recorded end-effector states. Specifically, when the end-effector is vertically downward with no yaw rotation, state[5] (z-axis Euler angle) has a constant -45° offset. Additionally, due to the different selection of the end-effector reference point, the recorded state[2] (z-position) is typically about 10 cm higher than the center of the gripper. These offsets need special attention during dataset usage.