romoya/eval_B3_pick_egg_v2
收藏Hugging Face2026-04-20 更新2026-04-26 收录
下载链接：
https://hf-mirror.com/datasets/romoya/eval_B3_pick_egg_v2
下载链接
链接失效反馈官方服务：
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/eval_B3_pick_egg_v2">
<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": 10,
"total_frames": 3546,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:10"
},
"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": [
360,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 360,
"video.width": 640,
"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": [
360,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 360,
"video.width": 640,
"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": [
360,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 360,
"video.width": 640,
"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：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=romoya/eval_B3_pick_egg_v2">
<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：** [暂未提供更多信息]
- **论文：** [暂未提供更多信息]
- **许可证：** Apache-2.0
## 数据集结构
元数据文件 `[meta/info.json](meta/info.json)` 内容如下：
json
{
"代码库版本": "v3.0",
"机器人类型": "romoya_bi_lebai_follower",
"总轨迹数": 10,
"总帧数": 3546,
"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": 30,
"数据集划分": {
"训练集": "0:10"
},
"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（action）": {
"数据类型": "float32",
"维度含义": [
"左侧关节1位置",
"左侧关节2位置",
"左侧关节3位置",
"左侧关节4位置",
"左侧关节5位置",
"左侧关节6位置",
"左侧数字输出0",
"左侧数字输出1",
"左侧关节1负载",
"左侧关节2负载",
"左侧关节3负载",
"左侧关节4负载",
"左侧关节5负载",
"左侧关节6负载",
"左侧关节1速度",
"左侧关节2速度",
"左侧关节3速度",
"左侧关节4速度",
"左侧关节5速度",
"左侧关节6速度",
"左侧关节1加速度",
"左侧关节2加速度",
"左侧关节3加速度",
"左侧关节4加速度",
"左侧关节5加速度",
"左侧关节6加速度",
"左侧关节1温度",
"左侧关节1电压",
"左侧关节2温度",
"左侧关节2电压",
"左侧关节3温度",
"左侧关节3电压",
"左侧关节4温度",
"左侧关节4电压",
"左侧关节5温度",
"左侧关节5电压",
"左侧关节6温度",
"左侧关节6电压",
"左侧法兰电压",
"左侧工具中心点X坐标",
"左侧工具中心点Y坐标",
"左侧工具中心点Z坐标",
"左侧工具中心点X轴旋转角度",
"左侧工具中心点Y轴旋转角度",
"左侧工具中心点Z轴旋转角度",
"右侧关节1位置",
"右侧关节2位置",
"右侧关节3位置",
"右侧关节4位置",
"右侧关节5位置",
"右侧关节6位置",
"右侧数字输出0",
"右侧数字输出1",
"右侧关节1负载",
"右侧关节2负载",
"右侧关节3负载",
"右侧关节4负载",
"右侧关节5负载",
"右侧关节6负载",
"右侧关节1速度",
"右侧关节2速度",
"右侧关节3速度",
"右侧关节4速度",
"右侧关节5速度",
"右侧关节6速度",
"右侧关节1加速度",
"右侧关节2加速度",
"右侧关节3加速度",
"右侧关节4加速度",
"右侧关节5加速度",
"右侧关节6加速度",
"右侧关节1温度",
"右侧关节1电压",
"右侧关节2温度",
"右侧关节2电压",
"右侧关节3温度",
"右侧关节3电压",
"右侧关节4温度",
"右侧关节4电压",
"右侧关节5温度",
"右侧关节5电压",
"右侧关节6温度",
"右侧关节6电压",
"右侧法兰电压",
"右侧工具中心点X坐标",
"右侧工具中心点Y坐标",
"右侧工具中心点Z坐标",
"右侧工具中心点X轴旋转角度",
"右侧工具中心点Y轴旋转角度",
"右侧工具中心点Z轴旋转角度",
"左侧夹爪位置",
"左侧夹爪受力",
"右侧夹爪位置",
"右侧夹爪受力"
],
"维度数": [94]
},
"观测状态（observation.state）": {
"数据类型": "float32",
"维度含义": [
"左侧关节1位置",
"左侧关节2位置",
"左侧关节3位置",
"左侧关节4位置",
"左侧关节5位置",
"左侧关节6位置",
"左侧夹爪位置",
"左侧夹爪受力",
"左侧数字输出0",
"左侧数字输出1",
"左侧关节1负载",
"左侧关节2负载",
"左侧关节3负载",
"左侧关节4负载",
"左侧关节5负载",
"左侧关节6负载",
"左侧关节1速度",
"左侧关节2速度",
"左侧关节3速度",
"左侧关节4速度",
"左侧关节5速度",
"左侧关节6速度",
"左侧关节1加速度",
"左侧关节2加速度",
"左侧关节3加速度",
"左侧关节4加速度",
"左侧关节5加速度",
"左侧关节6加速度",
"左侧工具中心点X坐标",
"左侧工具中心点Y坐标",
"左侧工具中心点Z坐标",
"左侧工具中心点X轴旋转角度",
"左侧工具中心点Y轴旋转角度",
"左侧工具中心点Z轴旋转角度",
"左侧关节1温度",
"左侧关节2温度",
"左侧关节3温度",
"左侧关节4温度",
"左侧关节5温度",
"左侧关节6温度",
"左侧关节1电压",
"左侧关节2电压",
"左侧关节3电压",
"左侧关节4电压",
"左侧关节5电压",
"左侧关节6电压",
"左侧法兰电压",
"左侧法兰X坐标",
"左侧法兰Y坐标",
"左侧法兰Z坐标",
"左侧法兰X轴旋转角度",
"左侧法兰Y轴旋转角度",
"左侧法兰Z轴旋转角度",
"左侧目标关节1位置",
"左侧目标关节2位置",
"左侧目标关节3位置",
"左侧目标关节4位置",
"左侧目标关节5位置",
"左侧目标关节6位置",
"左侧目标关节1速度",
"左侧目标关节2速度",
"左侧目标关节3速度",
"左侧目标关节4速度",
"左侧目标关节5速度",
"左侧目标关节6速度",
"左侧目标关节1加速度",
"左侧目标关节2加速度",
"左侧目标关节3加速度",
"左侧目标关节4加速度",
"左侧目标关节5加速度",
"左侧目标关节6加速度",
"左侧目标关节1负载",
"左侧目标关节2负载",
"左侧目标关节3负载",
"左侧目标关节4负载",
"左侧目标关节5负载",
"左侧目标关节6负载",
"左侧目标工具中心点X坐标",
"左侧目标工具中心点Y坐标",
"左侧目标工具中心点Z坐标",
"左侧目标工具中心点X轴旋转角度",
"左侧目标工具中心点Y轴旋转角度",
"左侧目标工具中心点Z轴旋转角度",
"右侧关节1位置",
"右侧关节2位置",
"右侧关节3位置",
"右侧关节4位置",
"右侧关节5位置",
"右侧关节6位置",
"右侧夹爪位置",
"右侧夹爪受力",
"右侧数字输出0",
"右侧数字输出1",
"右侧关节1负载",
"右侧关节2负载",
"右侧关节3负载",
"右侧关节4负载",
"右侧关节5负载",
"右侧关节6负载",
"右侧关节1速度",
"右侧关节2速度",
"右侧关节3速度",
"右侧关节4速度",
"右侧关节5速度",
"右侧关节6速度",
"右侧关节1加速度",
"右侧关节2加速度",
"右侧关节3加速度",
"右侧关节4加速度",
"右侧关节5加速度",
"右侧关节6加速度",
"右侧工具中心点X坐标",
"右侧工具中心点Y坐标",
"右侧工具中心点Z坐标",
"右侧工具中心点X轴旋转角度",
"右侧工具中心点Y轴旋转角度",
"右侧工具中心点Z轴旋转角度",
"右侧关节1温度",
"右侧关节2温度",
"右侧关节3温度",
"右侧关节4温度",
"右侧关节5温度",
"右侧关节6温度",
"右侧关节1电压",
"右侧关节2电压",
"右侧关节3电压",
"右侧关节4电压",
"右侧关节5电压",
"右侧关节6电压",
"右侧法兰电压",
"右侧法兰X坐标",
"右侧法兰Y坐标",
"右侧法兰Z坐标",
"右侧法兰X轴旋转角度",
"右侧法兰Y轴旋转角度",
"右侧法兰Z轴旋转角度",
"右侧目标关节1位置",
"右侧目标关节2位置",
"右侧目标关节3位置",
"右侧目标关节4位置",
"右侧目标关节5位置",
"右侧目标关节6位置",
"右侧目标关节1速度",
"右侧目标关节2速度",
"右侧目标关节3速度",
"右侧目标关节4速度",
"右侧目标关节5速度",
"右侧目标关节6速度",
"右侧目标关节1加速度",
"右侧目标关节2加速度",
"右侧目标关节3加速度",
"右侧目标关节4加速度",
"右侧目标关节5加速度",
"右侧目标关节6加速度",
"右侧目标关节1负载",
"右侧目标关节2负载",
"右侧目标关节3负载",
"右侧目标关节4负载",
"右侧目标关节5负载",
"右侧目标关节6负载",
"右侧目标工具中心点X坐标",
"右侧目标工具中心点Y坐标",
"右侧目标工具中心点Z坐标",
"右侧目标工具中心点X轴旋转角度",
"右侧目标工具中心点Y轴旋转角度",
"右侧目标工具中心点Z轴旋转角度"
],
"维度数": [166]
},
"观测图像-左侧腕部相机（observation.images.left_wrist）": {
"数据类型": "视频",
"分辨率": [360, 640, 3],
"维度含义": ["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": "h264",
"像素格式": "yuv420p",
"非深度图": false,
"帧率": 30,
"通道数": 3,
"无音频": false
}
},
"观测图像-右侧腕部相机（observation.images.right_wrist）": {
"数据类型": "视频",
"分辨率": [360, 640, 3],
"维度含义": ["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": "h264",
"像素格式": "yuv420p",
"非深度图": false,
"帧率": 30,
"通道数": 3,
"无音频": false
}
},
"观测图像-基座相机（observation.images.base）": {
"数据类型": "视频",
"分辨率": [360, 640, 3],
"维度含义": ["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": "h264",
"像素格式": "yuv420p",
"非深度图": false,
"帧率": 30,
"通道数": 3,
"无音频": false
}
},
"时间戳（timestamp）": {
"数据类型": "float32",
"维度数": [1],
"无命名维度": null
},
"帧索引（frame_index）": {
"数据类型": "int64",
"维度数": [1],
"无命名维度": null
},
"轨迹索引（episode_index）": {
"数据类型": "int64",
"维度数": [1],
"无命名维度": null
},
"全局索引（index）": {
"数据类型": "int64",
"维度数": [1],
"无命名维度": null
},
"任务索引（task_index）": {
"数据类型": "int64",
"维度数": [1],
"无命名维度": null
}
}
}
## 引用信息
**BibTeX格式引用：**
bibtex
[暂未提供更多信息]
提供机构：
romoya
