romoya/B3_Station_pick-up-cracked_egg_v3
收藏Hugging Face2026-04-20 更新2026-04-26 收录
下载链接：
https://hf-mirror.com/datasets/romoya/B3_Station_pick-up-cracked_egg_v3
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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=romoya/B3_Station_pick-up-cracked_egg_v3">
<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": "romoya_bi_lebai_follower",
"total_episodes": 80,
"total_frames": 15535,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:80"
},
"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",
"names": [
"left_joint1.pos",
"left_joint2.pos",
"left_joint3.pos",
"left_joint4.pos",
"left_joint5.pos",
"left_joint6.pos",
"left_DO_0",
"left_DO_1",
"left_joint1.effort",
"left_joint2.effort",
"left_joint3.effort",
"left_joint4.effort",
"left_joint5.effort",
"left_joint6.effort",
"left_joint1.vel",
"left_joint2.vel",
"left_joint3.vel",
"left_joint4.vel",
"left_joint5.vel",
"left_joint6.vel",
"left_joint1.acc",
"left_joint2.acc",
"left_joint3.acc",
"left_joint4.acc",
"left_joint5.acc",
"left_joint6.acc",
"left_joint1.temp",
"left_joint1.voltage",
"left_joint2.temp",
"left_joint2.voltage",
"left_joint3.temp",
"left_joint3.voltage",
"left_joint4.temp",
"left_joint4.voltage",
"left_joint5.temp",
"left_joint5.voltage",
"left_joint6.temp",
"left_joint6.voltage",
"left_flange_voltage",
"left_tcp.x",
"left_tcp.y",
"left_tcp.z",
"left_tcp.rx",
"left_tcp.ry",
"left_tcp.rz",
"right_joint1.pos",
"right_joint2.pos",
"right_joint3.pos",
"right_joint4.pos",
"right_joint5.pos",
"right_joint6.pos",
"right_DO_0",
"right_DO_1",
"right_joint1.effort",
"right_joint2.effort",
"right_joint3.effort",
"right_joint4.effort",
"right_joint5.effort",
"right_joint6.effort",
"right_joint1.vel",
"right_joint2.vel",
"right_joint3.vel",
"right_joint4.vel",
"right_joint5.vel",
"right_joint6.vel",
"right_joint1.acc",
"right_joint2.acc",
"right_joint3.acc",
"right_joint4.acc",
"right_joint5.acc",
"right_joint6.acc",
"right_joint1.temp",
"right_joint1.voltage",
"right_joint2.temp",
"right_joint2.voltage",
"right_joint3.temp",
"right_joint3.voltage",
"right_joint4.temp",
"right_joint4.voltage",
"right_joint5.temp",
"right_joint5.voltage",
"right_joint6.temp",
"right_joint6.voltage",
"right_flange_voltage",
"right_tcp.x",
"right_tcp.y",
"right_tcp.z",
"right_tcp.rx",
"right_tcp.ry",
"right_tcp.rz",
"left_gripper.pos",
"left_gripper.force",
"right_gripper.pos",
"right_gripper.force"
],
"shape": [
94
]
},
"observation.state": {
"dtype": "float32",
"names": [
"left_joint1.pos",
"left_joint2.pos",
"left_joint3.pos",
"left_joint4.pos",
"left_joint5.pos",
"left_joint6.pos",
"left_gripper.pos",
"left_gripper.force",
"left_DO_0",
"left_DO_1",
"left_joint1.effort",
"left_joint2.effort",
"left_joint3.effort",
"left_joint4.effort",
"left_joint5.effort",
"left_joint6.effort",
"left_joint1.vel",
"left_joint2.vel",
"left_joint3.vel",
"left_joint4.vel",
"left_joint5.vel",
"left_joint6.vel",
"left_joint1.acc",
"left_joint2.acc",
"left_joint3.acc",
"left_joint4.acc",
"left_joint5.acc",
"left_joint6.acc",
"left_tcp.x",
"left_tcp.y",
"left_tcp.z",
"left_tcp.rx",
"left_tcp.ry",
"left_tcp.rz",
"left_joint1.temp",
"left_joint2.temp",
"left_joint3.temp",
"left_joint4.temp",
"left_joint5.temp",
"left_joint6.temp",
"left_joint1.voltage",
"left_joint2.voltage",
"left_joint3.voltage",
"left_joint4.voltage",
"left_joint5.voltage",
"left_joint6.voltage",
"left_flange_voltage",
"left_flange.x",
"left_flange.y",
"left_flange.z",
"left_flange.rx",
"left_flange.ry",
"left_flange.rz",
"left_target_joint1.pos",
"left_target_joint2.pos",
"left_target_joint3.pos",
"left_target_joint4.pos",
"left_target_joint5.pos",
"left_target_joint6.pos",
"left_target_joint1.vel",
"left_target_joint2.vel",
"left_target_joint3.vel",
"left_target_joint4.vel",
"left_target_joint5.vel",
"left_target_joint6.vel",
"left_target_joint1.acc",
"left_target_joint2.acc",
"left_target_joint3.acc",
"left_target_joint4.acc",
"left_target_joint5.acc",
"left_target_joint6.acc",
"left_target_joint1.effort",
"left_target_joint2.effort",
"left_target_joint3.effort",
"left_target_joint4.effort",
"left_target_joint5.effort",
"left_target_joint6.effort",
"left_target_tcp.x",
"left_target_tcp.y",
"left_target_tcp.z",
"left_target_tcp.rx",
"left_target_tcp.ry",
"left_target_tcp.rz",
"right_joint1.pos",
"right_joint2.pos",
"right_joint3.pos",
"right_joint4.pos",
"right_joint5.pos",
"right_joint6.pos",
"right_gripper.pos",
"right_gripper.force",
"right_DO_0",
"right_DO_1",
"right_joint1.effort",
"right_joint2.effort",
"right_joint3.effort",
"right_joint4.effort",
"right_joint5.effort",
"right_joint6.effort",
"right_joint1.vel",
"right_joint2.vel",
"right_joint3.vel",
"right_joint4.vel",
"right_joint5.vel",
"right_joint6.vel",
"right_joint1.acc",
"right_joint2.acc",
"right_joint3.acc",
"right_joint4.acc",
"right_joint5.acc",
"right_joint6.acc",
"right_tcp.x",
"right_tcp.y",
"right_tcp.z",
"right_tcp.rx",
"right_tcp.ry",
"right_tcp.rz",
"right_joint1.temp",
"right_joint2.temp",
"right_joint3.temp",
"right_joint4.temp",
"right_joint5.temp",
"right_joint6.temp",
"right_joint1.voltage",
"right_joint2.voltage",
"right_joint3.voltage",
"right_joint4.voltage",
"right_joint5.voltage",
"right_joint6.voltage",
"right_flange_voltage",
"right_flange.x",
"right_flange.y",
"right_flange.z",
"right_flange.rx",
"right_flange.ry",
"right_flange.rz",
"right_target_joint1.pos",
"right_target_joint2.pos",
"right_target_joint3.pos",
"right_target_joint4.pos",
"right_target_joint5.pos",
"right_target_joint6.pos",
"right_target_joint1.vel",
"right_target_joint2.vel",
"right_target_joint3.vel",
"right_target_joint4.vel",
"right_target_joint5.vel",
"right_target_joint6.vel",
"right_target_joint1.acc",
"right_target_joint2.acc",
"right_target_joint3.acc",
"right_target_joint4.acc",
"right_target_joint5.acc",
"right_target_joint6.acc",
"right_target_joint1.effort",
"right_target_joint2.effort",
"right_target_joint3.effort",
"right_target_joint4.effort",
"right_target_joint5.effort",
"right_target_joint6.effort",
"right_target_tcp.x",
"right_target_tcp.y",
"right_target_tcp.z",
"right_target_tcp.rx",
"right_target_tcp.ry",
"right_target_tcp.rz"
],
"shape": [
166
]
},
"observation.images.left_wrist": {
"dtype": "video",
"shape": [
480,
864,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 864,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.right_wrist": {
"dtype": "video",
"shape": [
480,
864,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 864,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.top": {
"dtype": "video",
"shape": [
480,
848,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 848,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.side": {
"dtype": "video",
"shape": [
480,
848,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 848,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.base": {
"dtype": "video",
"shape": [
480,
848,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 848,
"video.codec": "h264",
"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
数据文件路径：data/*/*.parquet
本数据集基于[LeRobot（LeRobot）](https://github.com/huggingface/lerobot)工具链构建。
可点击以下链接可视化本数据集：<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=romoya/B3_Station_pick-up-cracked_egg_v3"><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>
## 数据集说明
- **主页：** [待补充更多信息]
- **论文：** [待补充更多信息]
- **许可证：** Apache-2.0
## 数据集结构
元数据文件`meta/info.json`内容如下：
json
{
"codebase_version": "v3.0",
"robot_type": "romoya_bi_lebai_follower",
"total_episodes": 80,
"total_frames": 15535,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:80"
},
"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",
"names": [
"左关节1位置",
"左关节2位置",
"左关节3位置",
"左关节4位置",
"左关节5位置",
"左关节6位置",
"左数字输出0",
"左数字输出1",
"左关节1力矩",
"左关节2力矩",
"左关节3力矩",
"左关节4力矩",
"左关节5力矩",
"左关节6力矩",
"左关节1速度",
"左关节2速度",
"左关节3速度",
"左关节4速度",
"左关节5速度",
"左关节6速度",
"左关节1加速度",
"左关节2加速度",
"左关节3加速度",
"左关节4加速度",
"左关节5加速度",
"左关节6加速度",
"左关节1温度",
"左关节1电压",
"左关节2温度",
"左关节2电压",
"左关节3温度",
"左关节3电压",
"左关节4温度",
"左关节4电压",
"左关节5温度",
"左关节5电压",
"左关节6温度",
"左关节6电压",
"左法兰盘电压",
"左工具中心点X坐标",
"左工具中心点Y坐标",
"左工具中心点Z坐标",
"左工具中心点滚转角",
"左工具中心点俯仰角",
"左工具中心点偏航角",
"右关节1位置",
"右关节2位置",
"右关节3位置",
"右关节4位置",
"右关节5位置",
"右关节6位置",
"右数字输出0",
"右数字输出1",
"右关节1力矩",
"右关节2力矩",
"右关节3力矩",
"右关节4力矩",
"右关节5力矩",
"右关节6力矩",
"右关节1速度",
"右关节2速度",
"右关节3速度",
"右关节4速度",
"右关节5速度",
"右关节6速度",
"右关节1加速度",
"右关节2加速度",
"右关节3加速度",
"右关节4加速度",
"右关节5加速度",
"右关节6加速度",
"右关节1温度",
"右关节1电压",
"右关节2温度",
"右关节2电压",
"右关节3温度",
"右关节3电压",
"右关节4温度",
"右关节4电压",
"右关节5温度",
"右关节5电压",
"右关节6温度",
"右关节6电压",
"右法兰盘电压",
"右工具中心点X坐标",
"右工具中心点Y坐标",
"右工具中心点Z坐标",
"右工具中心点滚转角",
"右工具中心点俯仰角",
"右工具中心点偏航角",
"左夹爪位置",
"左夹爪受力",
"右夹爪位置",
"右夹爪受力"
],
"shape": [94]
},
"observation.state": {
"dtype": "float32",
"names": [
"左关节1位置",
"左关节2位置",
"左关节3位置",
"左关节4位置",
"左关节5位置",
"左关节6位置",
"左夹爪位置",
"左夹爪受力",
"左数字输出0",
"左数字输出1",
"左关节1力矩",
"左关节2力矩",
"左关节3力矩",
"左关节4力矩",
"左关节5力矩",
"左关节6力矩",
"左关节1速度",
"左关节2速度",
"左关节3速度",
"左关节4速度",
"左关节5速度",
"左关节6速度",
"左关节1加速度",
"左关节2加速度",
"左关节3加速度",
"左关节4加速度",
"左关节5加速度",
"左关节6加速度",
"左工具中心点X坐标",
"左工具中心点Y坐标",
"左工具中心点Z坐标",
"左工具中心点滚转角",
"左工具中心点俯仰角",
"左工具中心点偏航角",
"左关节1温度",
"左关节2温度",
"左关节3温度",
"左关节4温度",
"左关节5温度",
"左关节6温度",
"左关节1电压",
"左关节2电压",
"左关节3电压",
"左关节4电压",
"左关节5电压",
"左关节6电压",
"左法兰盘电压",
"左法兰盘X坐标",
"左法兰盘Y坐标",
"左法兰盘Z坐标",
"左法兰盘滚转角",
"左法兰盘俯仰角",
"左法兰盘偏航角",
"左关节1目标位置",
"左关节2目标位置",
"左关节3目标位置",
"左关节4目标位置",
"左关节5目标位置",
"左关节6目标位置",
"左关节1目标速度",
"左关节2目标速度",
"左关节3目标速度",
"左关节4目标速度",
"左关节5目标速度",
"左关节6目标速度",
"左关节1目标加速度",
"左关节2目标加速度",
"左关节3目标加速度",
"左关节4目标加速度",
"左关节5目标加速度",
"左关节6目标加速度",
"左关节1目标力矩",
"左关节2目标力矩",
"左关节3目标力矩",
"左关节4目标力矩",
"左关节5目标力矩",
"左关节6目标力矩",
"左工具中心点目标X坐标",
"左工具中心点目标Y坐标",
"左工具中心点目标Z坐标",
"左工具中心点目标滚转角",
"左工具中心点目标俯仰角",
"左工具中心点目标偏航角",
"右关节1位置",
"右关节2位置",
"右关节3位置",
"右关节4位置",
"右关节5位置",
"右关节6位置",
"右夹爪位置",
"右夹爪受力",
"右数字输出0",
"右数字输出1",
"右关节1力矩",
"右关节2力矩",
"右关节3力矩",
"右关节4力矩",
"右关节5力矩",
"右关节6力矩",
"右关节1速度",
"右关节2速度",
"右关节3速度",
"右关节4速度",
"右关节5速度",
"右关节6速度",
"右关节1加速度",
"右关节2加速度",
"右关节3加速度",
"右关节4加速度",
"右关节5加速度",
"右关节6加速度",
"右工具中心点X坐标",
"右工具中心点Y坐标",
"右工具中心点Z坐标",
"右工具中心点滚转角",
"右工具中心点俯仰角",
"右工具中心点偏航角",
"右关节1温度",
"右关节2温度",
"右关节3温度",
"右关节4温度",
"右关节5温度",
"右关节6温度",
"右关节1电压",
"右关节2电压",
"右关节3电压",
"右关节4电压",
"右关节5电压",
"右关节6电压",
"右法兰盘电压",
"右法兰盘X坐标",
"右法兰盘Y坐标",
"右法兰盘Z坐标",
"右法兰盘滚转角",
"右法兰盘俯仰角",
"右法兰盘偏航角",
"右关节1目标位置",
"右关节2目标位置",
"右关节3目标位置",
"右关节4目标位置",
"右关节5目标位置",
"右关节6目标位置",
"右关节1目标速度",
"右关节2目标速度",
"右关节3目标速度",
"右关节4目标速度",
"右关节5目标速度",
"右关节6目标速度",
"右关节1目标加速度",
"右关节2目标加速度",
"右关节3目标加速度",
"右关节4目标加速度",
"右关节5目标加速度",
"右关节6目标加速度",
"右关节1目标力矩",
"右关节2目标力矩",
"右关节3目标力矩",
"右关节4目标力矩",
"右关节5目标力矩",
"右关节6目标力矩",
"右工具中心点目标X坐标",
"右工具中心点目标Y坐标",
"右工具中心点目标Z坐标",
"右工具中心点目标滚转角",
"右工具中心点目标俯仰角",
"右工具中心点目标偏航角"
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},
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"shape": [480, 864, 3],
"names": ["高度", "宽度", "通道数"],
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}
},
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"names": ["高度", "宽度", "通道数"],
"info": {
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}
},
"observation.images.top": {
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"names": ["高度", "宽度", "通道数"],
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}
},
"observation.images.side": {
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"names": ["高度", "宽度", "通道数"],
"info": {
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}
},
"observation.images.base": {
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"names": ["高度", "宽度", "通道数"],
"info": {
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"video.codec": "H.264",
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"video.is_depth_map": false,
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"video.channels": 3,
"has_audio": false
}
},
"timestamp": {
"dtype": "float32",
"shape": [1],
"names": null
},
"frame_index": {
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"shape": [1],
"names": null
},
"episode_index": {
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"shape": [1],
"names": null
},
"index": {
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"shape": [1],
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},
"task_index": {
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"names": null
}
}
}
## 引用
**BibTeX格式：**
bibtex
[待补充更多信息]
提供机构：
romoya
