PL2011/eval_act_sjaj_gripper-box2

---
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=PL2011/eval_act_sjaj_gripper-box2">
<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_lebai_follower",
"total_episodes": 75,
"total_frames": 20182,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:75"
},
"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": [
"joint1.pos",
"joint2.pos",
"joint3.pos",
"joint4.pos",
"joint5.pos",
"joint6.pos",
"gripper.pos",
"gripper.force",
"DO_0",
"DO_1"
],
"shape": [
10
]
},
"observation.state": {
"dtype": "float32",
"names": [
"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"
],
"shape": [
83
]
},
"observation.images.wrist": {
"dtype": "video",
"shape": [
360,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 360,
"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.top": {
"dtype": "video",
"shape": [
360,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 360,
"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.side": {
"dtype": "video",
"shape": [
360,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 360,
"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: 默认
数据文件: data/*/*.parquet
---

本数据集基于[LeRobot](https://github.com/huggingface/lerobot)构建。

<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=PL2011/eval_act_sjaj_gripper-box2">
<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：** [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](meta/info.json):
json
{
"代码库版本": "v3.0",
"机器人类型": "romoya_lebai_follower",
"总轨迹数": 75,
"总帧数": 20182,
"总任务数": 1,
"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（FPS）": 30,
"数据集划分": {
"训练集": "0:75"
},
"数据路径": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"视频路径": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"特征": {
"动作": {
"数据类型": "float32",
"命名项": [
"关节1.位置",
"关节2.位置",
"关节3.位置",
"关节4.位置",
"关节5.位置",
"关节6.位置",
"夹爪.位置",
"夹爪.力",
"DO_0",
"DO_1"
],
"数据形状": [
10
]
},
"观测数据.状态": {
"数据类型": "float32",
"命名项": [
"关节1.位置",
"关节2.位置",
"关节3.位置",
"关节4.位置",
"关节5.位置",
"关节6.位置",
"夹爪.位置",
"夹爪.力",
"DO_0",
"DO_1",
"关节1.力矩",
"关节2.力矩",
"关节3.力矩",
"关节4.力矩",
"关节5.力矩",
"关节6.力矩",
"关节1.速度",
"关节2.速度",
"关节3.速度",
"关节4.速度",
"关节5.速度",
"关节6.速度",
"关节1.加速度",
"关节2.加速度",
"关节3.加速度",
"关节4.加速度",
"关节5.加速度",
"关节6.加速度",
"工具中心点.x",
"工具中心点.y",
"工具中心点.z",
"工具中心点.滚转角",
"工具中心点.俯仰角",
"工具中心点.偏航角",
"关节1.温度",
"关节2.温度",
"关节3.温度",
"关节4.温度",
"关节5.温度",
"关节6.温度",
"关节1.电压",
"关节2.电压",
"关节3.电压",
"关节4.电压",
"关节5.电压",
"关节6.电压",
"法兰盘电压",
"法兰盘.x",
"法兰盘.y",
"法兰盘.z",
"法兰盘.滚转角",
"法兰盘.俯仰角",
"法兰盘.偏航角",
"目标关节1.位置",
"目标关节2.位置",
"目标关节3.位置",
"目标关节4.位置",
"目标关节5.位置",
"目标关节6.位置",
"目标关节1.速度",
"目标关节2.速度",
"目标关节3.速度",
"目标关节4.速度",
"目标关节5.速度",
"目标关节6.速度",
"目标关节1.加速度",
"目标关节2.加速度",
"目标关节3.加速度",
"目标关节4.加速度",
"目标关节5.加速度",
"目标关节6.加速度",
"目标关节1.力矩",
"目标关节2.力矩",
"目标关节3.力矩",
"目标关节4.力矩",
"目标关节5.力矩",
"目标关节6.力矩",
"目标工具中心点.x",
"目标工具中心点.y",
"目标工具中心点.z",
"目标工具中心点.滚转角",
"目标工具中心点.俯仰角",
"目标工具中心点.偏航角"
],
"数据形状": [
83
]
},
"观测数据.图像.腕部相机": {
"数据类型": "视频",
"数据形状": [
360,
640,
3
],
"命名项": [
"高度",
"宽度",
"通道数"
],
"详细信息": {
"视频高度": 360,
"视频宽度": 640,
"视频编码格式": "av1",
"像素格式": "yuv420p",
"是否为深度图": false,
"帧率": 30,
"通道数": 3,
"是否包含音频": false
}
},
"观测数据.图像.顶部相机": {
"数据类型": "视频",
"数据形状": [
360,
640,
3
],
"命名项": [
"高度",
"宽度",
"通道数"
],
"详细信息": {
"视频高度": 360,
"视频宽度": 640,
"视频编码格式": "av1",
"像素格式": "yuv420p",
"是否为深度图": false,
"帧率": 30,
"通道数": 3,
"是否包含音频": false
}
},
"观测数据.图像.侧面相机": {
"数据类型": "视频",
"数据形状": [
360,
640,
3
],
"命名项": [
"高度",
"宽度",
"通道数"
],
"详细信息": {
"视频高度": 360,
"视频宽度": 640,
"视频编码格式": "av1",
"像素格式": "yuv420p",
"是否为深度图": false,
"帧率": 30,
"通道数": 3,
"是否包含音频": false
}
},
"时间戳": {
"数据类型": "float32",
"数据形状": [
1
],
"命名项": null
},
"帧索引": {
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"数据形状": [
1
],
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},
"轨迹索引": {
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"数据形状": [
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],
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},
"全局索引": {
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"数据形状": [
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],
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},
"任务索引": {
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"数据形状": [
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],
"命名项": null
}
}
}

## 引用

**BibTeX格式引用：**

bibtex
[需补充更多信息]