wiscohumanoids/alohamini_cube_place_5dof_v38

---
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).

## 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": "lekiwi_client",
"total_episodes": 142,
"total_frames": 75242,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:142"
},
"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",
"shape": [
16
],
"names": [
"arm_left_shoulder_pan.pos",
"arm_left_shoulder_lift.pos",
"arm_left_elbow_flex.pos",
"arm_left_wrist_flex.pos",
"arm_left_wrist_roll.pos",
"arm_left_gripper.pos",
"arm_right_shoulder_pan.pos",
"arm_right_shoulder_lift.pos",
"arm_right_elbow_flex.pos",
"arm_right_wrist_flex.pos",
"arm_right_wrist_roll.pos",
"arm_right_gripper.pos",
"x.vel",
"y.vel",
"theta.vel",
"lift_axis.height_mm"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
16
],
"names": [
"arm_left_shoulder_pan.pos",
"arm_left_shoulder_lift.pos",
"arm_left_elbow_flex.pos",
"arm_left_wrist_flex.pos",
"arm_left_wrist_roll.pos",
"arm_left_gripper.pos",
"arm_right_shoulder_pan.pos",
"arm_right_shoulder_lift.pos",
"arm_right_elbow_flex.pos",
"arm_right_wrist_flex.pos",
"arm_right_wrist_roll.pos",
"arm_right_gripper.pos",
"x.vel",
"y.vel",
"theta.vel",
"lift_axis.height_mm"
]
},
"observation.images.head_top": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"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.head_front": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"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.wrist_right": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"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]
```

license: Apache-2.0许可证
task_categories:
- 机器人学
tags:
- LeRobot(LeRobot)
configs:
- config_name: 默认配置
data_files: data/*/*.parquet
---

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

## 数据集描述

- **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

[meta/info.json](meta/info.json):
json
{
"codebase_version": "v3.0",
"robot_type": "lekiwi_client",
"total_episodes": 142,
"total_frames": 75242,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:142"
},
"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",
"shape": [
16
],
"names": [
"左臂肩关节旋转关节位置",
"左臂肩关节抬升关节位置",
"左臂肘关节屈曲关节位置",
"左臂腕关节屈曲关节位置",
"左臂腕关节旋转关节位置",
"左手夹爪位置",
"右臂肩关节旋转关节位置",
"右臂肩关节抬升关节位置",
"右臂肘关节屈曲关节位置",
"右臂腕关节屈曲关节位置",
"右臂腕关节旋转关节位置",
"右手夹爪位置",
"X轴线速度",
"Y轴线速度",
"theta轴角速度",
"升降轴高度（毫米）"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
16
],
"names": [
"左臂肩关节旋转关节位置",
"左臂肩关节抬升关节位置",
"左臂肘关节屈曲关节位置",
"左臂腕关节屈曲关节位置",
"左臂腕关节旋转关节位置",
"左手夹爪位置",
"右臂肩关节旋转关节位置",
"右臂肩关节抬升关节位置",
"右臂肘关节屈曲关节位置",
"右臂腕关节屈曲关节位置",
"右臂腕关节旋转关节位置",
"右手夹爪位置",
"X轴线速度",
"Y轴线速度",
"theta轴角速度",
"升降轴高度（毫米）"
]
},
"observation.images.head_top": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"高度",
"宽度",
"通道数"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "H.264",
"video.pix_fmt": "YUV420P",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.head_front": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"高度",
"宽度",
"通道数"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "H.264",
"video.pix_fmt": "YUV420P",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.wrist_right": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"高度",
"宽度",
"通道数"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "H.264",
"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
}
}
}

## 引用

**BibTeX格式:**

bibtex
[待补充更多信息]