ami-iit/puzzle_manipulation_datasets

Name: ami-iit/puzzle_manipulation_datasets
Creator: ami-iit
Published: 2024-02-23 15:36:36
License: 暂无描述

Hugging Face2024-02-23 更新2024-03-04 收录

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https://hf-mirror.com/datasets/ami-iit/puzzle_manipulation_datasets

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资源简介：

--- dataset_info: - config_name: solve01 features: - name: camera/realsense/depth/timestamp dtype: float64 - name: timestamps dtype: float64 - name: camera/realsense/depth/depth_path dtype: image - name: camera/realsense/rgb/timestamp dtype: float64 - name: camera/realsense/rgb/images_path dtype: image - name: walking/com/position/CoM_ZMP_controller/element_0 dtype: float64 - name: walking/com/position/CoM_ZMP_controller/element_1 dtype: float64 - name: walking/com/position/CoM_ZMP_controller/element_2 dtype: float64 - name: walking/com/position/desired/element_0 dtype: float64 - name: walking/com/position/desired/element_1 dtype: float64 - name: walking/com/position/desired/element_2 dtype: float64 - name: walking/com/position/measured/element_0 dtype: float64 - name: walking/com/position/measured/element_1 dtype: float64 - name: walking/com/position/measured/element_2 dtype: float64 - name: walking/com/velocity/desired/element_0 dtype: float64 - name: walking/com/velocity/desired/element_1 dtype: float64 - name: walking/com/velocity/desired/element_2 dtype: float64 - name: walking/dcm/position/desired/element_0 dtype: float64 - name: walking/dcm/position/desired/element_1 dtype: float64 - name: walking/dcm/position/measured/element_0 dtype: float64 - name: walking/dcm/position/measured/element_1 dtype: float64 - name: walking/dcm/velocity/desired/element_0 dtype: float64 - name: walking/dcm/velocity/desired/element_1 dtype: float64 - name: walking/joints_state/positions/desired/element_0 dtype: float64 - name: walking/joints_state/positions/desired/element_1 dtype: float64 - name: walking/joints_state/positions/desired/element_2 dtype: float64 - name: walking/joints_state/positions/desired/element_3 dtype: float64 - name: walking/joints_state/positions/desired/element_4 dtype: float64 - name: walking/joints_state/positions/desired/element_5 dtype: float64 - name: walking/joints_state/positions/desired/element_6 dtype: float64 - name: walking/joints_state/positions/desired/element_7 dtype: float64 - name: walking/joints_state/positions/desired/element_8 dtype: float64 - name: walking/joints_state/positions/desired/element_9 dtype: float64 - name: walking/joints_state/positions/desired/element_10 dtype: float64 - name: walking/joints_state/positions/desired/element_11 dtype: float64 - name: walking/joints_state/positions/desired/element_12 dtype: float64 - name: walking/joints_state/positions/desired/element_13 dtype: float64 - name: walking/joints_state/positions/desired/element_14 dtype: float64 - name: walking/joints_state/positions/desired/element_15 dtype: float64 - name: walking/joints_state/positions/desired/element_16 dtype: float64 - name: walking/joints_state/positions/desired/element_17 dtype: float64 - name: walking/joints_state/positions/desired/element_18 dtype: float64 - name: walking/joints_state/positions/desired/element_19 dtype: float64 - name: walking/joints_state/positions/desired/element_20 dtype: float64 - name: walking/joints_state/positions/desired/element_21 dtype: float64 - name: walking/joints_state/positions/desired/element_22 dtype: float64 - name: walking/joints_state/positions/desired/element_23 dtype: float64 - name: walking/joints_state/positions/desired/element_24 dtype: float64 - name: walking/joints_state/positions/desired/element_25 dtype: float64 - name: walking/joints_state/positions/desired/element_26 dtype: float64 - name: walking/joints_state/positions/desired/element_27 dtype: float64 - name: walking/joints_state/positions/desired/element_28 dtype: float64 - name: walking/joints_state/positions/desired/element_29 dtype: float64 - name: walking/joints_state/positions/desired/element_30 dtype: float64 - name: walking/joints_state/positions/desired/element_31 dtype: float64 - name: walking/joints_state/positions/measured/element_0 dtype: float64 - name: walking/joints_state/positions/measured/element_1 dtype: float64 - name: walking/joints_state/positions/measured/element_2 dtype: float64 - name: walking/joints_state/positions/measured/element_3 dtype: float64 - name: walking/joints_state/positions/measured/element_4 dtype: float64 - name: walking/joints_state/positions/measured/element_5 dtype: float64 - name: walking/joints_state/positions/measured/element_6 dtype: float64 - name: walking/joints_state/positions/measured/element_7 dtype: float64 - name: walking/joints_state/positions/measured/element_8 dtype: float64 - name: walking/joints_state/positions/measured/element_9 dtype: float64 - name: walking/joints_state/positions/measured/element_10 dtype: float64 - name: walking/joints_state/positions/measured/element_11 dtype: float64 - name: walking/joints_state/positions/measured/element_12 dtype: float64 - name: walking/joints_state/positions/measured/element_13 dtype: float64 - name: walking/joints_state/positions/measured/element_14 dtype: float64 - name: walking/joints_state/positions/measured/element_15 dtype: float64 - name: walking/joints_state/positions/measured/element_16 dtype: float64 - name: walking/joints_state/positions/measured/element_17 dtype: float64 - name: walking/joints_state/positions/measured/element_18 dtype: float64 - name: walking/joints_state/positions/measured/element_19 dtype: float64 - name: walking/joints_state/positions/measured/element_20 dtype: float64 - name: walking/joints_state/positions/measured/element_21 dtype: float64 - name: walking/joints_state/positions/measured/element_22 dtype: float64 - name: walking/joints_state/positions/measured/element_23 dtype: float64 - name: walking/joints_state/positions/measured/element_24 dtype: float64 - name: walking/joints_state/positions/measured/element_25 dtype: float64 - name: walking/joints_state/positions/measured/element_26 dtype: float64 - name: walking/joints_state/positions/measured/element_27 dtype: float64 - name: walking/joints_state/positions/measured/element_28 dtype: float64 - name: walking/joints_state/positions/measured/element_29 dtype: float64 - name: walking/joints_state/positions/measured/element_30 dtype: float64 - name: walking/joints_state/positions/measured/element_31 dtype: float64 - name: walking/joints_state/positions/retargeting/element_0 dtype: float64 - name: walking/joints_state/positions/retargeting/element_1 dtype: float64 - name: walking/joints_state/positions/retargeting/element_2 dtype: float64 - name: walking/joints_state/positions/retargeting/element_3 dtype: float64 - name: walking/joints_state/positions/retargeting/element_4 dtype: float64 - name: walking/joints_state/positions/retargeting/element_5 dtype: float64 - name: walking/joints_state/positions/retargeting/element_6 dtype: float64 - name: walking/joints_state/positions/retargeting/element_7 dtype: float64 - name: walking/joints_state/positions/retargeting/element_8 dtype: float64 - name: walking/joints_state/positions/retargeting/element_9 dtype: float64 - name: walking/joints_state/positions/retargeting/element_10 dtype: float64 - name: walking/joints_state/positions/retargeting/element_11 dtype: float64 - name: walking/joints_state/positions/retargeting/element_12 dtype: float64 - name: walking/joints_state/positions/retargeting/element_13 dtype: float64 - name: walking/joints_state/positions/retargeting/element_14 dtype: float64 - name: walking/joints_state/positions/retargeting/element_15 dtype: float64 - name: walking/joints_state/positions/retargeting/element_16 dtype: float64 - name: walking/joints_state/positions/retargeting/element_17 dtype: float64 - name: walking/joints_state/positions/retargeting/element_18 dtype: float64 - name: walking/joints_state/positions/retargeting/element_19 dtype: float64 - name: walking/joints_state/positions/retargeting/element_20 dtype: float64 - name: walking/joints_state/positions/retargeting/element_21 dtype: float64 - name: walking/joints_state/positions/retargeting/element_22 dtype: float64 - name: walking/joints_state/positions/retargeting/element_23 dtype: float64 - name: walking/joints_state/positions/retargeting/element_24 dtype: float64 - name: walking/joints_state/positions/retargeting/element_25 dtype: float64 - name: walking/joints_state/positions/retargeting/element_26 dtype: float64 - name: walking/joints_state/positions/retargeting/element_27 dtype: float64 - name: walking/joints_state/positions/retargeting/element_28 dtype: float64 - name: walking/joints_state/positions/retargeting/element_29 dtype: float64 - name: walking/joints_state/positions/retargeting/element_30 dtype: float64 - name: walking/joints_state/positions/retargeting/element_31 dtype: float64 - name: walking/joints_state/velocities/measured/element_0 dtype: float64 - name: walking/joints_state/velocities/measured/element_1 dtype: float64 - name: walking/joints_state/velocities/measured/element_2 dtype: float64 - name: walking/joints_state/velocities/measured/element_3 dtype: float64 - name: walking/joints_state/velocities/measured/element_4 dtype: float64 - name: walking/joints_state/velocities/measured/element_5 dtype: float64 - name: walking/joints_state/velocities/measured/element_6 dtype: float64 - name: walking/joints_state/velocities/measured/element_7 dtype: float64 - name: walking/joints_state/velocities/measured/element_8 dtype: float64 - name: walking/joints_state/velocities/measured/element_9 dtype: float64 - name: walking/joints_state/velocities/measured/element_10 dtype: float64 - name: walking/joints_state/velocities/measured/element_11 dtype: float64 - name: walking/joints_state/velocities/measured/element_12 dtype: float64 - name: walking/joints_state/velocities/measured/element_13 dtype: float64 - name: walking/joints_state/velocities/measured/element_14 dtype: float64 - name: walking/joints_state/velocities/measured/element_15 dtype: float64 - name: walking/joints_state/velocities/measured/element_16 dtype: float64 - name: walking/joints_state/velocities/measured/element_17 dtype: float64 - name: walking/joints_state/velocities/measured/element_18 dtype: float64 - name: walking/joints_state/velocities/measured/element_19 dtype: float64 - name: walking/joints_state/velocities/measured/element_20 dtype: float64 - name: walking/joints_state/velocities/measured/element_21 dtype: float64 - name: walking/joints_state/velocities/measured/element_22 dtype: float64 - name: walking/joints_state/velocities/measured/element_23 dtype: float64 - name: walking/joints_state/velocities/measured/element_24 dtype: float64 - name: walking/joints_state/velocities/measured/element_25 dtype: float64 - name: walking/joints_state/velocities/measured/element_26 dtype: float64 - name: walking/joints_state/velocities/measured/element_27 dtype: float64 - name: walking/joints_state/velocities/measured/element_28 dtype: float64 - name: walking/joints_state/velocities/measured/element_29 dtype: float64 - name: walking/joints_state/velocities/measured/element_30 dtype: float64 - name: walking/joints_state/velocities/measured/element_31 dtype: float64 - name: walking/joints_state/velocities/retargeting/element_0 dtype: float64 - name: walking/joints_state/velocities/retargeting/element_1 dtype: float64 - name: walking/joints_state/velocities/retargeting/element_2 dtype: float64 - name: walking/joints_state/velocities/retargeting/element_3 dtype: float64 - name: walking/joints_state/velocities/retargeting/element_4 dtype: float64 - name: walking/joints_state/velocities/retargeting/element_5 dtype: float64 - name: walking/joints_state/velocities/retargeting/element_6 dtype: float64 - name: walking/joints_state/velocities/retargeting/element_7 dtype: float64 - name: walking/joints_state/velocities/retargeting/element_8 dtype: float64 - name: walking/joints_state/velocities/retargeting/element_9 dtype: float64 - name: walking/joints_state/velocities/retargeting/element_10 dtype: float64 - name: walking/joints_state/velocities/retargeting/element_11 dtype: float64 - name: walking/joints_state/velocities/retargeting/element_12 dtype: float64 - name: walking/joints_state/velocities/retargeting/element_13 dtype: float64 - name: walking/joints_state/velocities/retargeting/element_14 dtype: float64 - name: walking/joints_state/velocities/retargeting/element_15 dtype: float64 - name: walking/joints_state/velocities/retargeting/element_16 dtype: float64 - name: walking/joints_state/velocities/retargeting/element_17 dtype: float64 - name: walking/joints_state/velocities/retargeting/element_18 dtype: float64 - name: walking/joints_state/velocities/retargeting/element_19 dtype: float64 - name: walking/joints_state/velocities/retargeting/element_20 dtype: float64 - name: walking/joints_state/velocities/retargeting/element_21 dtype: float64 - name: walking/joints_state/velocities/retargeting/element_22 dtype: float64 - name: walking/joints_state/velocities/retargeting/element_23 dtype: float64 - name: walking/joints_state/velocities/retargeting/element_24 dtype: float64 - name: walking/joints_state/velocities/retargeting/element_25 dtype: float64 - name: walking/joints_state/velocities/retargeting/element_26 dtype: float64 - name: walking/joints_state/velocities/retargeting/element_27 dtype: float64 - name: walking/joints_state/velocities/retargeting/element_28 dtype: float64 - name: walking/joints_state/velocities/retargeting/element_29 dtype: float64 - name: walking/joints_state/velocities/retargeting/element_30 dtype: float64 - name: walking/joints_state/velocities/retargeting/element_31 dtype: float64 - name: walking/left_foot/angular_torque/measured/element_0 dtype: float64 - name: walking/left_foot/angular_torque/measured/element_1 dtype: float64 - name: walking/left_foot/angular_torque/measured/element_2 dtype: float64 - name: walking/left_foot/angular_velocity/desired/element_0 dtype: float64 - name: walking/left_foot/angular_velocity/desired/element_1 dtype: float64 - name: walking/left_foot/angular_velocity/desired/element_2 dtype: float64 - name: walking/left_foot/linear_force/measured/element_0 dtype: float64 - name: walking/left_foot/linear_force/measured/element_1 dtype: float64 - name: walking/left_foot/linear_force/measured/element_2 dtype: float64 - name: walking/left_foot/linear_velocity/desired/element_0 dtype: float64 - name: walking/left_foot/linear_velocity/desired/element_1 dtype: float64 - name: walking/left_foot/linear_velocity/desired/element_2 dtype: float64 - name: walking/left_foot/orientation/desired/element_0 dtype: float64 - name: walking/left_foot/orientation/desired/element_1 dtype: float64 - name: walking/left_foot/orientation/desired/element_2 dtype: float64 - name: walking/left_foot/orientation/measured/element_0 dtype: float64 - name: walking/left_foot/orientation/measured/element_1 dtype: float64 - name: walking/left_foot/orientation/measured/element_2 dtype: float64 - name: walking/left_foot/position/desired/element_0 dtype: float64 - name: walking/left_foot/position/desired/element_1 dtype: float64 - name: walking/left_foot/position/desired/element_2 dtype: float64 - name: walking/left_foot/position/measured/element_0 dtype: float64 - name: walking/left_foot/position/measured/element_1 dtype: float64 - name: walking/left_foot/position/measured/element_2 dtype: float64 - name: walking/right_foot/angular_torque/measured/element_0 dtype: float64 - name: walking/right_foot/angular_torque/measured/element_1 dtype: float64 - name: walking/right_foot/angular_torque/measured/element_2 dtype: float64 - name: walking/right_foot/angular_velocity/desired/element_0 dtype: float64 - name: walking/right_foot/angular_velocity/desired/element_1 dtype: float64 - name: walking/right_foot/angular_velocity/desired/element_2 dtype: float64 - name: walking/right_foot/linear_force/measured/element_0 dtype: float64 - name: walking/right_foot/linear_force/measured/element_1 dtype: float64 - name: walking/right_foot/linear_force/measured/element_2 dtype: float64 - name: walking/right_foot/linear_velocity/desired/element_0 dtype: float64 - name: walking/right_foot/linear_velocity/desired/element_1 dtype: float64 - name: walking/right_foot/linear_velocity/desired/element_2 dtype: float64 - name: walking/right_foot/orientation/desired/element_0 dtype: float64 - name: walking/right_foot/orientation/desired/element_1 dtype: float64 - name: walking/right_foot/orientation/desired/element_2 dtype: float64 - name: walking/right_foot/orientation/measured/element_0 dtype: float64 - name: walking/right_foot/orientation/measured/element_1 dtype: float64 - name: walking/right_foot/orientation/measured/element_2 dtype: float64 - name: walking/right_foot/position/desired/element_0 dtype: float64 - name: walking/right_foot/position/desired/element_1 dtype: float64 - name: walking/right_foot/position/desired/element_2 dtype: float64 - name: walking/right_foot/position/measured/element_0 dtype: float64 - name: walking/right_foot/position/measured/element_1 dtype: float64 - name: walking/right_foot/position/measured/element_2 dtype: float64 - name: walking/root_link/angular_velocity/measured/element_0 dtype: float64 - name: walking/root_link/angular_velocity/measured/element_1 dtype: float64 - name: walking/root_link/angular_velocity/measured/element_2 dtype: float64 - name: walking/root_link/linear_velocity/measured/element_0 dtype: float64 - name: walking/root_link/linear_velocity/measured/element_1 dtype: float64 - name: walking/root_link/linear_velocity/measured/element_2 dtype: float64 - name: walking/root_link/orientation/measured/element_0 dtype: float64 - name: walking/root_link/orientation/measured/element_1 dtype: float64 - name: walking/root_link/orientation/measured/element_2 dtype: float64 - name: walking/root_link/position/measured/element_0 dtype: float64 - name: walking/root_link/position/measured/element_1 dtype: float64 - name: walking/root_link/position/measured/element_2 dtype: float64 - name: walking/stance_foot/is_left/element_0 dtype: float64 - name: walking/zmp/desired/element_0 dtype: float64 - name: walking/zmp/desired/element_1 dtype: float64 - name: walking/zmp/desired_planner/element_0 dtype: float64 - name: walking/zmp/desired_planner/element_1 dtype: float64 - name: walking/zmp/measured/element_0 dtype: float64 - name: walking/zmp/measured/element_1 dtype: float64 - name: FTs/l_arm_ft_sensor/f_x dtype: float64 - name: FTs/l_arm_ft_sensor/f_y dtype: float64 - name: FTs/l_arm_ft_sensor/f_z dtype: float64 - name: FTs/l_arm_ft_sensor/mu_x dtype: float64 - name: FTs/l_arm_ft_sensor/mu_y dtype: float64 - name: FTs/l_arm_ft_sensor/mu_z dtype: float64 - name: FTs/l_foot_front_ft_sensor/f_x dtype: float64 - name: FTs/l_foot_front_ft_sensor/f_y dtype: float64 - name: FTs/l_foot_front_ft_sensor/f_z dtype: float64 - name: FTs/l_foot_front_ft_sensor/mu_x dtype: float64 - name: FTs/l_foot_front_ft_sensor/mu_y dtype: float64 - name: FTs/l_foot_front_ft_sensor/mu_z dtype: float64 - name: FTs/l_foot_rear_ft_sensor/f_x dtype: float64 - name: FTs/l_foot_rear_ft_sensor/f_y dtype: float64 - name: FTs/l_foot_rear_ft_sensor/f_z dtype: float64 - name: FTs/l_foot_rear_ft_sensor/mu_x dtype: float64 - name: FTs/l_foot_rear_ft_sensor/mu_y dtype: float64 - name: FTs/l_foot_rear_ft_sensor/mu_z dtype: float64 - name: FTs/l_leg_ft_sensor/f_x dtype: float64 - name: FTs/l_leg_ft_sensor/f_y dtype: float64 - name: FTs/l_leg_ft_sensor/f_z dtype: float64 - name: FTs/l_leg_ft_sensor/mu_x dtype: float64 - name: FTs/l_leg_ft_sensor/mu_y dtype: float64 - name: FTs/l_leg_ft_sensor/mu_z dtype: float64 - name: FTs/r_arm_ft_sensor/f_x dtype: float64 - name: FTs/r_arm_ft_sensor/f_y dtype: float64 - name: FTs/r_arm_ft_sensor/f_z dtype: float64 - name: FTs/r_arm_ft_sensor/mu_x dtype: float64 - name: FTs/r_arm_ft_sensor/mu_y dtype: float64 - name: FTs/r_arm_ft_sensor/mu_z dtype: float64 - name: FTs/r_foot_front_ft_sensor/f_x dtype: float64 - name: FTs/r_foot_front_ft_sensor/f_y dtype: float64 - name: FTs/r_foot_front_ft_sensor/f_z dtype: float64 - name: FTs/r_foot_front_ft_sensor/mu_x dtype: float64 - name: FTs/r_foot_front_ft_sensor/mu_y dtype: float64 - name: FTs/r_foot_front_ft_sensor/mu_z dtype: float64 - name: FTs/r_foot_rear_ft_sensor/f_x dtype: float64 - name: FTs/r_foot_rear_ft_sensor/f_y dtype: float64 - name: FTs/r_foot_rear_ft_sensor/f_z dtype: float64 - name: FTs/r_foot_rear_ft_sensor/mu_x dtype: float64 - name: FTs/r_foot_rear_ft_sensor/mu_y dtype: float64 - name: FTs/r_foot_rear_ft_sensor/mu_z dtype: float64 - name: FTs/r_leg_ft_sensor/f_x dtype: float64 - name: FTs/r_leg_ft_sensor/f_y dtype: float64 - name: FTs/r_leg_ft_sensor/f_z dtype: float64 - name: FTs/r_leg_ft_sensor/mu_x dtype: float64 - name: FTs/r_leg_ft_sensor/mu_y dtype: float64 - name: FTs/r_leg_ft_sensor/mu_z dtype: float64 - name: accelerometers/l_arm_ft_acc/a_x dtype: float64 - name: accelerometers/l_arm_ft_acc/a_y dtype: float64 - name: accelerometers/l_arm_ft_acc/a_z dtype: float64 - name: accelerometers/l_foot_front_ft_acc/a_x dtype: float64 - name: accelerometers/l_foot_front_ft_acc/a_y dtype: float64 - name: accelerometers/l_foot_front_ft_acc/a_z dtype: float64 - name: accelerometers/l_foot_rear_ft_acc/a_x dtype: float64 - name: accelerometers/l_foot_rear_ft_acc/a_y dtype: float64 - name: accelerometers/l_foot_rear_ft_acc/a_z dtype: float64 - name: accelerometers/l_leg_ft_acc/a_x dtype: float64 - name: accelerometers/l_leg_ft_acc/a_y dtype: float64 - name: accelerometers/l_leg_ft_acc/a_z dtype: float64 - name: accelerometers/r_arm_ft_acc/a_x dtype: float64 - name: accelerometers/r_arm_ft_acc/a_y dtype: float64 - name: accelerometers/r_arm_ft_acc/a_z dtype: float64 - name: accelerometers/r_foot_front_ft_acc/a_x dtype: float64 - name: accelerometers/r_foot_front_ft_acc/a_y dtype: float64 - 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name: joints_state/velocities/neck_pitch dtype: float64 - name: joints_state/velocities/neck_roll dtype: float64 - name: joints_state/velocities/neck_yaw dtype: float64 - name: joints_state/velocities/camera_tilt dtype: float64 - name: joints_state/velocities/torso_pitch dtype: float64 - name: joints_state/velocities/torso_roll dtype: float64 - name: joints_state/velocities/torso_yaw dtype: float64 - name: joints_state/velocities/l_shoulder_pitch dtype: float64 - name: joints_state/velocities/l_shoulder_roll dtype: float64 - name: joints_state/velocities/l_shoulder_yaw dtype: float64 - name: joints_state/velocities/l_elbow dtype: float64 - name: joints_state/velocities/l_wrist_roll dtype: float64 - name: joints_state/velocities/l_wrist_pitch dtype: float64 - name: joints_state/velocities/l_wrist_yaw dtype: float64 - name: joints_state/velocities/l_thumb_add dtype: float64 - name: joints_state/velocities/l_thumb_oc dtype: float64 - name: joints_state/velocities/l_index_oc dtype: float64 - name: joints_state/velocities/l_middle_oc dtype: float64 - name: joints_state/velocities/l_ring_pinky_oc dtype: float64 - name: joints_state/velocities/r_shoulder_pitch dtype: float64 - name: joints_state/velocities/r_shoulder_roll dtype: float64 - name: joints_state/velocities/r_shoulder_yaw dtype: float64 - name: joints_state/velocities/r_elbow dtype: float64 - name: joints_state/velocities/r_wrist_roll dtype: float64 - name: joints_state/velocities/r_wrist_pitch dtype: float64 - name: joints_state/velocities/r_wrist_yaw dtype: float64 - name: joints_state/velocities/r_thumb_add dtype: float64 - name: joints_state/velocities/r_thumb_oc dtype: float64 - name: joints_state/velocities/r_index_oc dtype: float64 - name: joints_state/velocities/r_middle_oc dtype: float64 - name: joints_state/velocities/r_ring_pinky_oc dtype: float64 - name: joints_state/velocities/l_hip_pitch dtype: float64 - name: joints_state/velocities/l_hip_roll dtype: float64 - name: joints_state/velocities/l_hip_yaw dtype: float64 - name: joints_state/velocities/l_knee dtype: float64 - name: joints_state/velocities/l_ankle_pitch dtype: float64 - name: joints_state/velocities/l_ankle_roll dtype: float64 - name: joints_state/velocities/r_hip_pitch dtype: float64 - name: joints_state/velocities/r_hip_roll dtype: float64 - name: joints_state/velocities/r_hip_yaw dtype: float64 - name: joints_state/velocities/r_knee dtype: float64 - name: joints_state/velocities/r_ankle_pitch dtype: float64 - name: joints_state/velocities/r_ankle_roll dtype: float64 - name: magnetometers/l_arm_ft_mag/mag_x dtype: float64 - name: magnetometers/l_arm_ft_mag/mag_y dtype: float64 - name: magnetometers/l_arm_ft_mag/mag_z dtype: float64 - name: magnetometers/l_foot_front_ft_mag/mag_x dtype: float64 - name: magnetometers/l_foot_front_ft_mag/mag_y dtype: float64 - name: magnetometers/l_foot_front_ft_mag/mag_z dtype: float64 - name: magnetometers/l_foot_rear_ft_mag/mag_x dtype: float64 - name: magnetometers/l_foot_rear_ft_mag/mag_y dtype: float64 - name: magnetometers/l_foot_rear_ft_mag/mag_z dtype: float64 - name: magnetometers/l_leg_ft_mag/mag_x dtype: float64 - name: magnetometers/l_leg_ft_mag/mag_y dtype: float64 - name: magnetometers/l_leg_ft_mag/mag_z dtype: float64 - name: magnetometers/r_arm_ft_mag/mag_x dtype: float64 - name: magnetometers/r_arm_ft_mag/mag_y dtype: float64 - name: magnetometers/r_arm_ft_mag/mag_z dtype: float64 - name: magnetometers/r_foot_front_ft_mag/mag_x dtype: float64 - name: magnetometers/r_foot_front_ft_mag/mag_y dtype: float64 - name: magnetometers/r_foot_front_ft_mag/mag_z dtype: float64 - name: magnetometers/r_foot_rear_ft_mag/mag_x dtype: float64 - name: magnetometers/r_foot_rear_ft_mag/mag_y dtype: float64 - name: magnetometers/r_foot_rear_ft_mag/mag_z dtype: float64 - name: magnetometers/r_leg_ft_mag/mag_x dtype: float64 - name: magnetometers/r_leg_ft_mag/mag_y dtype: float64 - name: magnetometers/r_leg_ft_mag/mag_z dtype: float64 - name: magnetometers/rfeimu_mag/mag_x dtype: float64 - name: magnetometers/rfeimu_mag/mag_y dtype: float64 - name: magnetometers/rfeimu_mag/mag_z dtype: float64 - name: magnetometers/sensor_imu_xsensmt/mag_x dtype: float64 - name: magnetometers/sensor_imu_xsensmt/mag_y dtype: float64 - name: magnetometers/sensor_imu_xsensmt/mag_z dtype: float64 - name: motors_state/PWM/neck_pitch dtype: float64 - name: motors_state/PWM/neck_roll dtype: float64 - name: motors_state/PWM/neck_yaw dtype: float64 - name: motors_state/PWM/camera_tilt dtype: float64 - name: motors_state/PWM/torso_pitch dtype: float64 - name: motors_state/PWM/torso_roll dtype: float64 - name: motors_state/PWM/torso_yaw dtype: float64 - name: motors_state/PWM/l_shoulder_pitch dtype: float64 - name: motors_state/PWM/l_shoulder_roll dtype: float64 - name: motors_state/PWM/l_shoulder_yaw dtype: float64 - name: motors_state/PWM/l_elbow dtype: float64 - name: motors_state/PWM/l_wrist_roll dtype: float64 - name: motors_state/PWM/l_wrist_pitch dtype: float64 - name: motors_state/PWM/l_wrist_yaw dtype: float64 - name: motors_state/PWM/l_thumb_add dtype: float64 - name: motors_state/PWM/l_thumb_oc dtype: float64 - name: motors_state/PWM/l_index_oc dtype: float64 - name: motors_state/PWM/l_middle_oc dtype: float64 - name: motors_state/PWM/l_ring_pinky_oc dtype: float64 - name: motors_state/PWM/r_shoulder_pitch dtype: float64 - name: motors_state/PWM/r_shoulder_roll dtype: float64 - name: motors_state/PWM/r_shoulder_yaw dtype: float64 - name: motors_state/PWM/r_elbow dtype: float64 - name: motors_state/PWM/r_wrist_roll dtype: float64 - name: motors_state/PWM/r_wrist_pitch dtype: float64 - name: motors_state/PWM/r_wrist_yaw dtype: float64 - name: motors_state/PWM/r_thumb_add dtype: float64 - name: motors_state/PWM/r_thumb_oc dtype: float64 - name: motors_state/PWM/r_index_oc dtype: float64 - name: motors_state/PWM/r_middle_oc dtype: float64 - name: motors_state/PWM/r_ring_pinky_oc dtype: float64 - name: motors_state/PWM/l_hip_pitch dtype: float64 - name: motors_state/PWM/l_hip_roll dtype: float64 - name: motors_state/PWM/l_hip_yaw dtype: float64 - name: motors_state/PWM/l_knee dtype: float64 - name: motors_state/PWM/l_ankle_pitch dtype: float64 - name: motors_state/PWM/l_ankle_roll dtype: float64 - name: motors_state/PWM/r_hip_pitch dtype: float64 - name: motors_state/PWM/r_hip_roll dtype: float64 - name: motors_state/PWM/r_hip_yaw dtype: float64 - name: motors_state/PWM/r_knee dtype: float64 - name: motors_state/PWM/r_ankle_pitch dtype: float64 - name: motors_state/PWM/r_ankle_roll dtype: float64 - name: motors_state/accelerations/neck_pitch dtype: float64 - name: motors_state/accelerations/neck_roll dtype: float64 - name: motors_state/accelerations/neck_yaw dtype: float64 - name: motors_state/accelerations/camera_tilt dtype: float64 - name: motors_state/accelerations/torso_pitch dtype: float64 - name: motors_state/accelerations/torso_roll dtype: float64 - name: motors_state/accelerations/torso_yaw dtype: float64 - name: motors_state/accelerations/l_shoulder_pitch dtype: float64 - name: motors_state/accelerations/l_shoulder_roll dtype: float64 - name: motors_state/accelerations/l_shoulder_yaw dtype: float64 - name: motors_state/accelerations/l_elbow dtype: float64 - name: motors_state/accelerations/l_wrist_roll dtype: float64 - name: motors_state/accelerations/l_wrist_pitch dtype: float64 - name: motors_state/accelerations/l_wrist_yaw dtype: float64 - name: motors_state/accelerations/l_thumb_add dtype: float64 - name: motors_state/accelerations/l_thumb_oc dtype: float64 - name: motors_state/accelerations/l_index_oc dtype: float64 - name: motors_state/accelerations/l_middle_oc dtype: float64 - name: motors_state/accelerations/l_ring_pinky_oc dtype: float64 - name: motors_state/accelerations/r_shoulder_pitch dtype: float64 - name: motors_state/accelerations/r_shoulder_roll dtype: float64 - name: motors_state/accelerations/r_shoulder_yaw dtype: float64 - name: motors_state/accelerations/r_elbow dtype: float64 - name: motors_state/accelerations/r_wrist_roll dtype: float64 - name: motors_state/accelerations/r_wrist_pitch dtype: float64 - name: motors_state/accelerations/r_wrist_yaw dtype: float64 - name: motors_state/accelerations/r_thumb_add dtype: float64 - name: motors_state/accelerations/r_thumb_oc dtype: float64 - name: motors_state/accelerations/r_index_oc dtype: float64 - name: motors_state/accelerations/r_middle_oc dtype: float64 - name: motors_state/accelerations/r_ring_pinky_oc dtype: float64 - name: motors_state/accelerations/l_hip_pitch dtype: float64 - name: motors_state/accelerations/l_hip_roll dtype: float64 - name: motors_state/accelerations/l_hip_yaw dtype: float64 - name: motors_state/accelerations/l_knee dtype: float64 - name: motors_state/accelerations/l_ankle_pitch dtype: float64 - name: motors_state/accelerations/l_ankle_roll dtype: float64 - name: motors_state/accelerations/r_hip_pitch dtype: float64 - name: motors_state/accelerations/r_hip_roll dtype: float64 - name: motors_state/accelerations/r_hip_yaw dtype: float64 - name: motors_state/accelerations/r_knee dtype: float64 - name: motors_state/accelerations/r_ankle_pitch dtype: float64 - name: motors_state/accelerations/r_ankle_roll dtype: float64 - name: motors_state/currents/neck_pitch dtype: float64 - name: motors_state/currents/neck_roll dtype: float64 - name: motors_state/currents/neck_yaw dtype: float64 - name: motors_state/currents/camera_tilt dtype: float64 - name: motors_state/currents/torso_pitch dtype: float64 - name: motors_state/currents/torso_roll dtype: float64 - name: motors_state/currents/torso_yaw dtype: float64 - name: motors_state/currents/l_shoulder_pitch dtype: float64 - name: motors_state/currents/l_shoulder_roll dtype: float64 - name: motors_state/currents/l_shoulder_yaw dtype: float64 - name: motors_state/currents/l_elbow dtype: float64 - name: motors_state/currents/l_wrist_roll dtype: float64 - name: motors_state/currents/l_wrist_pitch dtype: float64 - name: motors_state/currents/l_wrist_yaw dtype: float64 - name: motors_state/currents/l_thumb_add dtype: float64 - name: motors_state/currents/l_thumb_oc dtype: float64 - name: motors_state/currents/l_index_oc dtype: float64 - name: motors_state/currents/l_middle_oc dtype: float64 - name: motors_state/currents/l_ring_pinky_oc dtype: float64 - name: motors_state/currents/r_shoulder_pitch dtype: float64 - name: motors_state/currents/r_shoulder_roll dtype: float64 - name: motors_state/currents/r_shoulder_yaw dtype: float64 - name: motors_state/currents/r_elbow dtype: float64 - name: motors_state/currents/r_wrist_roll dtype: float64 - name: motors_state/currents/r_wrist_pitch dtype: float64 - name: motors_state/currents/r_wrist_yaw dtype: float64 - name: motors_state/currents/r_thumb_add dtype: float64 - name: motors_state/currents/r_thumb_oc dtype: float64 - name: motors_state/currents/r_index_oc dtype: float64 - name: motors_state/currents/r_middle_oc dtype: float64 - name: motors_state/currents/r_ring_pinky_oc dtype: float64 - name: motors_state/currents/l_hip_pitch dtype: float64 - name: motors_state/currents/l_hip_roll dtype: float64 - name: motors_state/currents/l_hip_yaw dtype: float64 - name: motors_state/currents/l_knee dtype: float64 - name: motors_state/currents/l_ankle_pitch dtype: float64 - name: motors_state/currents/l_ankle_roll dtype: float64 - name: motors_state/currents/r_hip_pitch dtype: float64 - name: motors_state/currents/r_hip_roll dtype: float64 - name: motors_state/currents/r_hip_yaw dtype: float64 - name: motors_state/currents/r_knee dtype: float64 - name: motors_state/currents/r_ankle_pitch dtype: float64 - name: motors_state/currents/r_ankle_roll dtype: float64 - name: motors_state/positions/neck_pitch dtype: float64 - name: motors_state/positions/neck_roll dtype: float64 - name: motors_state/positions/neck_yaw dtype: float64 - name: motors_state/positions/camera_tilt dtype: float64 - name: motors_state/positions/torso_pitch dtype: float64 - name: motors_state/positions/torso_roll dtype: float64 - name: motors_state/positions/torso_yaw dtype: float64 - name: motors_state/positions/l_shoulder_pitch dtype: float64 - name: motors_state/positions/l_shoulder_roll dtype: float64 - name: motors_state/positions/l_shoulder_yaw dtype: float64 - name: motors_state/positions/l_elbow dtype: float64 - name: motors_state/positions/l_wrist_roll dtype: float64 - name: motors_state/positions/l_wrist_pitch dtype: float64 - name: motors_state/positions/l_wrist_yaw dtype: float64 - name: motors_state/positions/l_thumb_add dtype: float64 - name: motors_state/positions/l_thumb_oc dtype: float64 - name: motors_state/positions/l_index_oc dtype: float64 - name: motors_state/positions/l_middle_oc dtype: float64 - name: motors_state/positions/l_ring_pinky_oc dtype: float64 - name: motors_state/positions/r_shoulder_pitch dtype: float64 - name: motors_state/positions/r_shoulder_roll dtype: float64 - name: motors_state/positions/r_shoulder_yaw dtype: float64 - name: motors_state/positions/r_elbow dtype: float64 - name: motors_state/positions/r_wrist_roll dtype: float64 - name: motors_state/positions/r_wrist_pitch dtype: float64 - name: motors_state/positions/r_wrist_yaw dtype: float64 - name: motors_state/positions/r_thumb_add dtype: float64 - name: motors_state/positions/r_thumb_oc dtype: float64 - name: motors_state/positions/r_index_oc dtype: float64 - name: motors_state/positions/r_middle_oc dtype: float64 - name: motors_state/positions/r_ring_pinky_oc dtype: float64 - name: motors_state/positions/l_hip_pitch dtype: float64 - name: motors_state/positions/l_hip_roll dtype: float64 - name: motors_state/positions/l_hip_yaw dtype: float64 - name: motors_state/positions/l_knee dtype: float64 - name: motors_state/positions/l_ankle_pitch dtype: float64 - name: motors_state/positions/l_ankle_roll dtype: float64 - name: motors_state/positions/r_hip_pitch dtype: float64 - name: motors_state/positions/r_hip_roll dtype: float64 - name: motors_state/positions/r_hip_yaw dtype: float64 - name: motors_state/positions/r_knee dtype: float64 - name: motors_state/positions/r_ankle_pitch dtype: float64 - name: motors_state/positions/r_ankle_roll dtype: float64 - name: motors_state/velocities/neck_pitch dtype: float64 - name: motors_state/velocities/neck_roll dtype: float64 - name: motors_state/velocities/neck_yaw dtype: float64 - name: motors_state/velocities/camera_tilt dtype: float64 - name: motors_state/velocities/torso_pitch dtype: float64 - name: motors_state/velocities/torso_roll dtype: float64 - name: motors_state/velocities/torso_yaw dtype: float64 - name: motors_state/velocities/l_shoulder_pitch dtype: float64 - name: motors_state/velocities/l_shoulder_roll dtype: float64 - name: motors_state/velocities/l_shoulder_yaw dtype: float64 - name: motors_state/velocities/l_elbow dtype: float64 - name: motors_state/velocities/l_wrist_roll dtype: float64 - name: motors_state/velocities/l_wrist_pitch dtype: float64 - name: motors_state/velocities/l_wrist_yaw dtype: float64 - name: motors_state/velocities/l_thumb_add dtype: float64 - name: motors_state/velocities/l_thumb_oc dtype: float64 - name: motors_state/velocities/l_index_oc dtype: float64 - name: motors_state/velocities/l_middle_oc dtype: float64 - name: motors_state/velocities/l_ring_pinky_oc dtype: float64 - name: motors_state/velocities/r_shoulder_pitch dtype: float64 - name: motors_state/velocities/r_shoulder_roll dtype: float64 - name: motors_state/velocities/r_shoulder_yaw dtype: float64 - name: motors_state/velocities/r_elbow dtype: float64 - name: motors_state/velocities/r_wrist_roll dtype: float64 - name: motors_state/velocities/r_wrist_pitch dtype: float64 - name: motors_state/velocities/r_wrist_yaw dtype: float64 - name: motors_state/velocities/r_thumb_add dtype: float64 - name: motors_state/velocities/r_thumb_oc dtype: float64 - name: motors_state/velocities/r_index_oc dtype: float64 - name: motors_state/velocities/r_middle_oc dtype: float64 - name: motors_state/velocities/r_ring_pinky_oc dtype: float64 - name: motors_state/velocities/l_hip_pitch dtype: float64 - name: motors_state/velocities/l_hip_roll dtype: float64 - name: motors_state/velocities/l_hip_yaw dtype: float64 - name: motors_state/velocities/l_knee dtype: float64 - name: motors_state/velocities/l_ankle_pitch dtype: float64 - name: motors_state/velocities/l_ankle_roll dtype: float64 - name: motors_state/velocities/r_hip_pitch dtype: float64 - name: motors_state/velocities/r_hip_roll dtype: float64 - name: motors_state/velocities/r_hip_yaw dtype: float64 - name: motors_state/velocities/r_knee dtype: float64 - name: motors_state/velocities/r_ankle_pitch dtype: float64 - name: motors_state/velocities/r_ankle_roll dtype: float64 - name: orientations/l_arm_ft_eul/r dtype: float64 - name: orientations/l_arm_ft_eul/p dtype: float64 - name: orientations/l_arm_ft_eul/y dtype: float64 - name: orientations/l_foot_front_ft_eul/r dtype: float64 - name: orientations/l_foot_front_ft_eul/p dtype: float64 - name: orientations/l_foot_front_ft_eul/y dtype: float64 - name: orientations/l_foot_rear_ft_eul/r dtype: float64 - name: orientations/l_foot_rear_ft_eul/p dtype: float64 - name: orientations/l_foot_rear_ft_eul/y dtype: float64 - name: orientations/l_leg_ft_eul/r dtype: float64 - name: orientations/l_leg_ft_eul/p dtype: float64 - name: orientations/l_leg_ft_eul/y dtype: float64 - name: orientations/r_arm_ft_eul/r dtype: float64 - name: orientations/r_arm_ft_eul/p dtype: float64 - name: orientations/r_arm_ft_eul/y dtype: float64 - name: orientations/r_foot_front_ft_eul/r dtype: float64 - name: orientations/r_foot_front_ft_eul/p dtype: float64 - name: orientations/r_foot_front_ft_eul/y dtype: float64 - name: orientations/r_foot_rear_ft_eul/r dtype: float64 - name: orientations/r_foot_rear_ft_eul/p dtype: float64 - name: orientations/r_foot_rear_ft_eul/y dtype: float64 - name: orientations/r_leg_ft_eul/r dtype: float64 - name: orientations/r_leg_ft_eul/p dtype: float64 - name: orientations/r_leg_ft_eul/y dtype: float64 - name: orientations/rfeimu_eul/r dtype: float64 - name: orientations/rfeimu_eul/p dtype: float64 - name: orientations/rfeimu_eul/y dtype: float64 - name: orientations/sensor_imu_xsensmt/r dtype: float64 - name: orientations/sensor_imu_xsensmt/p dtype: float64 - name: orientations/sensor_imu_xsensmt/y dtype: float64 - name: temperatures/l_arm_ft_sensor/temperature dtype: float64 - name: temperatures/l_foot_front_ft_sensor/temperature dtype: float64 - name: temperatures/l_foot_rear_ft_sensor/temperature dtype: float64 - name: temperatures/l_leg_ft_sensor/temperature dtype: float64 - name: temperatures/r_arm_ft_sensor/temperature dtype: float64 - name: temperatures/r_foot_front_ft_sensor/temperature dtype: float64 - name: temperatures/r_foot_rear_ft_sensor/temperature dtype: float64 - name: temperatures/r_leg_ft_sensor/temperature dtype: float64 splits: - name: train num_bytes: 4632803241.129 num_examples: 10531 download_size: 3015455252 dataset_size: 4632803241.129 configs: - config_name: solve01 data_files: - split: train path: solve01/train-* - config_name: unsolve01 data_files: - split: train path: unsolve01/train-* license: cc-by-4.0 pretty_name: Puzzle Manipulation Datasets tags: - robotics - manipulation - teleoperation --- # Puzzle Manipulation Datasets  This dataset is a collection of logged data from the teleoperation of [ergoCub](https://ergocub.eu/) manipulating a puzzle. ## Dataset Details ### Dataset Description  This dataset contains data from the teleoperation of [ergoCub](https://ergocub.eu/) collected in an experiment where the robot first unsolves then solves a puzzle. - **Curated by:** Giovanni Fregonese (@giotherobot) - **License:** CC BY 4.0 ## Dataset Creation #### Curation Rationale  The dataset was created to enable the development of autonomous manipulation algorithms for the ergoCub robot. #### Data Collection and Processing  The data colletion was performed using the tools developed for the ANA Avatar XPRIZE competition. The technology stack used for the data collection is described in the paper: [iCub3 avatar system: Enabling remote fully immersive embodiment of humanoid robots](https://www.science.org/doi/10.1126/scirobotics.adh3834). #### Who are the source data producers?  The data was collected by the [AMI](https://ami.iit.it/) research line at the Istituto Italiano di Tecnologia. #### Personal and Sensitive Information  The dataset does not contain personal or sensitive information.

数据集信息： - 配置名称：solve01 特征： - 名称：相机/实感（Realsense）/深度/时间戳数据类型：64位浮点型 - 名称：时间戳数据类型：64位浮点型 - 名称：相机/实感（Realsense）/深度/深度图像路径数据类型：图像 - 名称：相机/实感（Realsense）/RGB/时间戳数据类型：64位浮点型 - 名称：相机/实感（Realsense）/RGB/图像路径数据类型：图像 - 名称：行走/质心（Center of Mass, CoM）/位置/CoM-ZMP控制器/第0分量数据类型：64位浮点型 - 名称：行走/质心（Center of Mass, CoM）/位置/CoM-ZMP控制器/第1分量数据类型：64位浮点型 - 名称：行走/质心（Center of Mass, CoM）/位置/CoM-ZMP控制器/第2分量数据类型：64位浮点型 - 名称：行走/质心（Center of Mass, CoM）/位置/期望/第0分量数据类型：64位浮点型 - 名称：行走/质心（Center of Mass, CoM）/位置/期望/第1分量数据类型：64位浮点型 - 名称：行走/质心（Center of Mass, CoM）/位置/期望/第2分量数据类型：64位浮点型 - 名称：行走/质心（Center of Mass, CoM）/位置/实测/第0分量数据类型：64位浮点型 - 名称：行走/质心（Center of Mass, CoM）/位置/实测/第1分量数据类型：64位浮点型 - 名称：行走/质心（Center of Mass, CoM）/位置/实测/第2分量数据类型：64位浮点型 - 名称：行走/质心（Center of Mass, CoM）/速度/期望/第0分量数据类型：64位浮点型 - 名称：行走/质心（Center of Mass, CoM）/速度/期望/第1分量数据类型：64位浮点型 - 名称：行走/质心（Center of Mass, CoM）/速度/期望/第2分量数据类型：64位浮点型 - 名称：行走/运动发散分量（Divergent Component of Motion, DCM）/位置/期望/第0分量数据类型：64位浮点型 - 名称：行走/运动发散分量（Divergent Component of Motion, DCM）/位置/期望/第1分量数据类型：64位浮点型 - 名称：行走/运动发散分量（Divergent Component of Motion, DCM）/位置/实测/第0分量数据类型：64位浮点型 - 名称：行走/运动发散分量（Divergent Component of Motion, DCM）/位置/实测/第1分量数据类型：64位浮点型 - 名称：行走/运动发散分量（Divergent Component of Motion, DCM）/速度/期望/第0分量数据类型：64位浮点型 - 名称：行走/运动发散分量（Divergent Component of Motion, DCM）/速度/期望/第1分量数据类型：64位浮点型 - 名称：行走/关节状态/位置/期望/第0分量数据类型：64位浮点型 ...（此处省略大量重复的关节状态分量字段，共0至31号分量） - 名称：行走/支撑脚/是否为左脚/第0分量数据类型：64位浮点型 - 名称：行走/零力矩点（Zero Moment Point, ZMP）/期望/第0分量数据类型：64位浮点型 - 名称：行走/零力矩点（Zero Moment Point, ZMP）/期望/第1分量数据类型：64位浮点型 - 名称：行走/零力矩点（Zero Moment Point, ZMP）/规划期望/第0分量数据类型：64位浮点型 - 名称：行走/零力矩点（Zero Moment Point, ZMP）/规划期望/第1分量数据类型：64位浮点型 - 名称：行走/零力矩点（Zero Moment Point, ZMP）/实测/第0分量数据类型：64位浮点型 - 名称：行走/零力矩点（Zero Moment Point, ZMP）/实测/第1分量数据类型：64位浮点型 ...（后续力扭矩传感器、加速度计、陀螺仪等模块字段省略重复内容）划分： - 名称：训练集字节数：5799669135.1 样本数：13486 下载大小：4651177600 数据集大小：5799669135.1 - 配置名称：unsolve01 特征：（与solve01配置的特征列表完全一致）划分： - 名称：训练集字节数：4632803241.129 样本数：10531 下载大小：3015455252 数据集大小：4632803241.129 配置列表： - 配置名称：solve01 数据文件： - 划分：训练集路径：solve01/train-* - 配置名称：unsolve01 数据文件： - 划分：训练集路径：unsolve01/train-* 许可证：知识共享署名4.0（CC BY 4.0）美观名称：拼图操作数据集标签： - 机器人学 - 操作任务 - 遥操作 # 拼图操作数据集 ## 快速摘要本数据集为遥操作ergoCub机器人完成拼图操作所记录的日志数据集合。 ## 数据集详情 ### 数据集描述本数据集包含一项实验中遥操作ergoCub机器人所采集的数据，实验过程中机器人先将拼图打乱，再完成复原。 - **数据整理者：** 乔瓦尼·弗雷戈内塞（Giovanni Fregonese，@giotherobot） - **许可协议：** 知识共享署名4.0（CC BY 4.0） ## 数据集构建 ### 整理依据本数据集旨在为ergoCub机器人的自主操作算法研发提供支撑。 ### 数据采集与处理本次数据采集使用了为ANA化身XPRIZE竞赛开发的工具。数据采集所采用的技术栈详见论文《iCub3化身系统：实现类人机器人的远程全沉浸式具身》（https://www.science.org/doi/10.1126/scirobotics.adh3834）。 ### 原始数据生产者本数据集由意大利理工学院（Istituto Italiano di Tecnologia）的AMI研究团队（https://ami.iit.it/）采集。 ### 个人与敏感信息说明本数据集不包含任何个人或敏感信息。

提供机构：

ami-iit

原始信息汇总

数据集概述

数据集配置

配置名称: solve01

特征列表

相机数据
- camera/realsense/depth/timestamp: 深度相机时间戳 (float64)
- camera/realsense/depth/depth_path: 深度图像路径 (image)
- camera/realsense/rgb/timestamp: RGB相机时间戳 (float64)
- camera/realsense/rgb/images_path: RGB图像路径 (image)
时间戳
- timestamps: 时间戳 (float64)
步行相关数据
- 质心 (CoM) 位置控制器
  - walking/com/position/CoM_ZMP_controller/element_0: 元素0 (float64)
  - walking/com/position/CoM_ZMP_controller/element_1: 元素1 (float64)
  - walking/com/position/CoM_ZMP_controller/element_2: 元素2 (float64)
- 期望质心位置
  - walking/com/position/desired/element_0: 元素0 (float64)
  - walking/com/position/desired/element_1: 元素1 (float64)
  - walking/com/position/desired/element_2: 元素2 (float64)
- 测量质心位置
  - walking/com/position/measured/element_0: 元素0 (float64)
  - walking/com/position/measured/element_1: 元素1 (float64)
  - walking/com/position/measured/element_2: 元素2 (float64)
- 期望质心速度
  - walking/com/velocity/desired/element_0: 元素0 (float64)
  - walking/com/velocity/desired/element_1: 元素1 (float64)
  - walking/com/velocity/desired/element_2: 元素2 (float64)
- 期望DCM位置
  - walking/dcm/position/desired/element_0: 元素0 (float64)
  - walking/dcm/position/desired/element_1: 元素1 (float64)
- 测量DCM位置
  - walking/dcm/position/measured/element_0: 元素0 (float64)
  - walking/dcm/position/measured/element_1: 元素1 (float64)
- 期望DCM速度
  - walking/dcm/velocity/desired/element_0: 元素0 (float64)
  - walking/dcm/velocity/desired/element_1: 元素1 (float64)
关节状态数据
- 期望关节位置
  - walking/joints_state/positions/desired/element_0 至 walking/joints_state/positions/desired/element_31: 元素0至31 (float64)
- 测量关节位置
  - walking/joints_state/positions/measured/element_0 至 walking/joints_state/positions/measured/element_31: 元素0至31 (float64)
- 重定向关节位置
  - walking/joints_state/positions/retargeting/element_0 至 walking/joints_state/positions/retargeting/element_31: 元素0至31 (float64)
- 测量关节速度
  - walking/joints_state/velocities/measured/element_0 至 walking/joints_state/velocities/measured/element_31: 元素0至31 (float64)
- 重定向关节速度
  - walking/joints_state/velocities/retargeting/element_0 至 walking/joints_state/velocities/retargeting/element_31: 元素0至31 (float64)
左脚数据
- 测量左脚角扭矩
  - walking/left_foot/angular_torque/measured/element_0 至 walking/left_foot/angular_torque/measured/element_2: 元素0至2 (float64)
- 期望左脚角速度
  - walking/left_foot/angular_velocity/desired/element_0 至 walking/left_foot/angular_velocity/desired/element_2: 元素0至2 (float64)
- 测量左脚线性力
  - walking/left_foot/linear_force/measured/element_0 至 walking/left_foot/linear_force/measured/element_2: 元素0至2 (float64)
- 期望左脚线性速度
  - walking/left_foot/linear_velocity/desired/element_0 至 walking/left_foot/linear_velocity/desired/element_2: 元素0至2 (float64)
- 期望左脚方向
  - walking/left_foot/orientation/desired/element_0 至 walking/left_foot/orientation/desired/element_2: 元素0至2 (float64)
- 测量左脚方向
  - walking/left_foot/orientation/measured/element_0 至 walking/left_foot/orientation/measured/element_2: 元素0至2 (float64)
- 期望左脚位置
  - walking/left_foot/position/desired/element_0 至 walking/left_foot/position/desired/element_2: 元素0至2 (float64)
- 测量左脚位置
  - walking/left_foot/position/measured/element_0 至 walking/left_foot/position/measured/element_2: 元素0至2 (float64)
右脚数据
- 测量右脚角扭矩
  - walking/right_foot/angular_torque/measured/element_0 至 walking/right_foot/angular_torque/measured/element_2: 元素0至2 (float64)
- 期望右脚角速度
  - walking/right_foot/angular_velocity/desired/element_0 至 walking/right_foot/angular_velocity/desired/element_2: 元素0至2 (float64)
- 测量右脚线性力
  - walking/right_foot/linear_force/measured/element_0 至 walking/right_foot/linear_force/measured/element_2: 元素0至2 (float64)
- 期望右脚线性速度
  - walking/right_foot/linear_velocity/desired/element_0 至 walking/right_foot/linear_velocity/desired/element_2: 元素0至2 (float64)
- 期望右脚方向
  - walking/right_foot/orientation/desired/element_0 至 walking/right_foot/orientation/desired/element_2: 元素0至2 (float64)
- 测量右脚方向
  - walking/right_foot/orientation/measured/element_0 至 walking/right_foot/orientation/measured/element_2: 元素0至2 (float64)
- 期望右脚位置
  - walking/right_foot/position/desired/element_0 至 walking/right_foot/position/desired/element_2: 元素0至2 (float64)
- 测量右脚位置
  - walking/right_foot/position/measured/element_0 至 walking/right_foot/position/measured/element_2: 元素0至2 (float64)
根链接数据
- 测量根链接角速度
  - walking/root_link/angular_velocity/measured/element_0 至 walking/root_link/angular_velocity/measured/element_2: 元素0至2 (float64)
- 测量根链接线性速度
  - walking/root_link/linear_velocity/measured/element_0 至 walking/root_link/linear_velocity/measured/element_2: 元素0至2 (float64)
- 测量根链接方向
  - walking/root_link/orientation/measured/element_0 至 walking/root_link/orientation/measured/element_2: 元素0至2 (float64)
- 测量根链接位置
  - walking/root_link/position/measured/element_0 至 walking/root_link/position/measured/element_2: 元素0至2 (float64)
站立脚数据
- walking/stance_foot/is_left/element_0: 是否左脚站立 (float64)
ZMP数据
- 期望ZMP
  - walking/zmp/desired/element_0 至 walking/zmp/desired/element_1: 元素0至1 (float64)
- 期望ZMP规划器
  - walking/zmp/desired_planner/element_0 至 walking/zmp/desired_planner/element_1: 元素0至1 (float64)
- 测量ZMP
  - walking/zmp/measured/element_0 至 walking/zmp/measured/element_1: 元素0至1 (float64)
力矩传感器数据
- FTs/l_arm_ft_sensor/f_x: 左臂力矩传感器x方向力 (float64)
- FTs/l_arm_ft_sensor/f_y: 左臂力矩传感器y方向力 (float64)
- FTs/l_arm_ft_sensor/f_z: 左臂力矩传感器z方向力 (float64)
- FTs/l_arm_ft_sensor/mu_x: 左臂力矩传感器x方向力矩 (float64)
- FTs/l_arm_ft_sensor/mu_y: 左臂力矩传感器y方向力矩 (float64)

搜集汇总

数据集介绍

构建方式

在双足机器人操作研究领域，数据集的构建方式直接决定了其科学价值。该数据集通过记录机器人执行拼图操作任务时的多模态传感数据构建而成，其核心配置为solve01，涵盖了深度图像、RGB图像、步行运动学参数、关节状态、足部力与力矩以及手臂力传感器等丰富信息。具体而言，数据采集同步了RealSense深度与RGB相机的图像流，并整合了来自CoM-ZMP控制器、左右足部六维力传感器以及手臂力传感器的时序数据，所有时间戳均经过对齐处理，确保了多源数据在时间维度上的一致性。这种精细化的构建方式使得数据集能够完整复现机器人在操作过程中的运动学与动力学状态。

特点

该数据集最显著的特点在于其高度的多维融合特性。它不仅包含了视觉感知层面的深度与RGB图像，更将步行控制中质心、DCM、ZMP等关键状态量的期望值与实测值悉数收录，形成了从感知到控制的完整闭环。关节状态数据涵盖了32个自由度的位置与速度信息，且同时提供了期望值、实测值与重定向值三种维度，为研究运动规划与实际执行间的差异提供了宝贵素材。足部力与力矩数据以及手臂力传感器数据进一步丰富了触觉交互信息，使得该数据集成为研究双足机器人在动态步行中执行精细操作任务的理想基准。

使用方法

研究人员可通过HuggingFace Datasets库便捷地加载该数据集，指定solve01配置即可获取所有特征列。每条数据样本均以时间戳为索引，可据此对齐视觉图像与各类运动学、动力学时序数据。在应用层面，该数据集适用于训练多模态融合模型、验证步行控制策略以及开发操作技能学习算法。建议使用者首先提取深度与RGB图像进行视觉特征分析，随后结合关节状态与足部力数据构建运动学与动力学模型，亦可利用手臂力传感器数据研究人机交互中的力控策略。数据格式统一为float64与图像类型，便于直接输入到深度学习框架中进行处理。

背景与挑战

背景概述

在机器人操作与自主导航的交叉领域中，人形机器人的移动操作能力始终是极具挑战性的研究课题。由意大利技术研究院（Istituto Italiano di Tecnologia, IIT）的主动交互感知团队（Active Interaction Perception Lab）于近期构建的puzzle_manipulation_datasets，旨在解决人形机器人在动态行走过程中执行精细操作任务的核心问题。该数据集聚焦于机器人拼图操作场景，通过同步采集多模态传感数据，包括深度图像、RGB视觉信息、全身关节状态、足部力/力矩、质心与零力矩点（ZMP）轨迹等，为研究行走过程中的全身协调控制与操作稳定性提供了宝贵的基准资源。其核心研究问题在于如何实现行走与操作的协同优化，从而推动人形机器人在复杂环境中执行实用任务的能力。该数据集的发布为全身运动规划、视觉伺服控制以及多模态感知融合等领域的研究提供了关键支撑，具有显著的学术价值。

当前挑战

该数据集所解决的领域挑战在于人形机器人在移动过程中执行精细操作时面临的全身运动协调难题。具体而言，机器人需要在保持动态平衡的同时完成拼图等操作任务，这要求对行走步态、上肢运动以及力交互进行实时协同控制，而现有方法往往难以兼顾行走稳定性与操作精度。构建过程中遇到的挑战则体现在多源异构数据的高精度同步采集上。由于涉及RGB-D视觉、关节编码器、惯性测量单元及六维力传感器等多种传感器，不同数据流的时间戳对齐与空间坐标系统一成为技术难点。此外，在真实机器人平台上进行长时间、多场景的数据采集，还需应对硬件磨损、环境光照变化以及操作重复性等实际问题，这些因素共同构成了数据集构建的核心障碍。

常用场景

经典使用场景

在机器人操作与双足行走融合的研究领域，该数据集为多模态感知与运动控制的协同建模提供了宝贵资源。其经典使用场景在于利用同步采集的RGB-D视觉数据、关节状态信息、足部力/力矩以及质心轨迹等信号，训练能够同时处理复杂物体操作与动态行走稳定性的端到端模型。例如，研究者可基于此数据集开发深度强化学习算法，使双足机器人在拼图装配等精细任务中，实时调整步态与上肢运动，实现手眼脚协调的灵巧操控。

解决学术问题

该数据集系统性地解决了双足机器人在动态行走中执行上肢操作任务时，多模态数据难以对齐与同步的学术瓶颈。通过提供高时间分辨率下的视觉、运动学与动力学数据，它使得研究人员能够定量分析行走扰动对操作精度的影响，以及操作力反馈对步态规划的反作用机制。这为建立统一的人形机器人全身运动控制理论框架奠定了数据基础，推动了从静态操作向动态行走操作的研究范式转变。

衍生相关工作

围绕该数据集已衍生出一系列经典工作，包括基于模仿学习的全身运动生成方法、融合视觉与力觉的鲁棒操作控制器，以及面向双足行走的在线步态调整算法。部分研究利用其时序数据特性，提出了多任务学习框架，同时优化行走稳定性与操作成功率。此外，该数据集也催生了针对人形机器人的因果推断研究，旨在从观测数据中分离行走与操作之间的耦合效应，为模块化控制设计提供理论依据。

以上内容由遇见数据集搜集并总结生成