play_robot_v3_1_eef
收藏资源简介：
该数据集是一个机器人学数据集，使用LeRobot工具创建，专门用于记录机器人的动作和观测数据。数据集包含一个完整的演示集，总帧数为17932，帧率为30fps，数据以parquet文件格式存储，并附带视频文件。特征字段包括动作（7维浮点数，表示右机械臂的7个关节位置）、观测状态（7维浮点数，表示右机械臂的关节位置）、图像观测（来自两个摄像头：cam_high和cam_right_wrist，均为480x640分辨率的三通道视频），以及时间戳、帧索引、集索引等元数据。此外，还包括左右末端执行器和头部相机的位置、四元数、欧拉角观测和动作数据，以及右机械臂夹爪的状态。机器人类型为trossen_ai_stationary，数据集适用于机器人控制、强化学习或行为克隆等任务。
This dataset is a robotics dataset created using the LeRobot tool, specifically designed to record robot actions and observation data. It includes a complete demonstration set with a total of 17,932 frames at a frame rate of 30fps, stored in parquet file format along with video files. Feature fields include actions (7-dimensional floating-point numbers representing the joint positions of the right robotic arm), observation states (7-dimensional floating-point numbers representing the joint positions of the right robotic arm), image observations (from two cameras: cam_high and cam_right_wrist, both with 480x640 resolution three-channel videos), as well as metadata such as timestamps, frame indices, and episode indices. Additionally, it includes position, quaternion, Euler angle observations and action data for the left and right end-effectors and head cameras, as well as the state of the right robotic arm gripper. The robot type is trossen_ai_stationary, and the dataset is suitable for tasks like robot control, reinforcement learning, or behavior cloning.
数据集概述
- 数据集名称:
play_robot_v3_1_eef - 许可证: Apache-2.0
- 任务类别: 机器人学 (Robotics)
- 标签: LeRobot
- 创建工具: 使用 LeRobot 创建
数据集规模
- 总片段数 (Episodes): 1
- 总帧数 (Frames): 17,932
- 总任务数 (Tasks): 1
- 总视频数 (Videos): 2
- 总数据块数 (Chunks): 1
- 帧率 (FPS): 30
- 数据拆分: 训练集 (train) 覆盖全部数据 (0:1)
机器人类型
- 机器人型号:
trossen_ai_stationary - 软件版本:
v2.1(codebase),v1.0(trossen_subversion)
数据特征 (Features)
动作 (Action)
- 维度: 7
- 数据类型: float32
- 关节名称: right_joint_0 至 right_joint_6
观察状态 (Observation.State)
- 维度: 7
- 数据类型: float32
- 关节名称: right_joint_0 至 right_joint_6
图像观测 (Observation.Images)
- 摄像头1:
cam_high- 分辨率: 480×640 像素
- 通道数: 3 (RGB)
- 编码: AV1, yuv420p
- 帧率: 30 FPS
- 是否为深度图: 否
- 摄像头2:
cam_right_wrist- 分辨率: 480×640 像素
- 通道数: 3 (RGB)
- 编码: AV1, yuv420p
- 帧率: 30 FPS
- 是否为深度图: 否
时间戳与索引
- timestamp: float32, 形状 [1]
- frame_index: int64, 形状 [1]
- episode_index: int64, 形状 [1]
- index: int64, 形状 [1]
- task_index: int64, 形状 [1]
左臂末端执行器状态
- 位置 (obs_left_ee_position): float32, 形状 [3] (x, y, z)
- 四元数 (obs_left_ee_quat_xyzw): float32, 形状 [4] (qx, qy, qz, qw)
- 欧拉角 (obs_left_ee_euler_xyz): float32, 形状 [3] (roll, pitch, yaw)
右臂末端执行器状态
- 位置 (obs_right_ee_position): float32, 形状 [3] (x, y, z)
- 四元数 (obs_right_ee_quat_xyzw): float32, 形状 [4] (qx, qy, qz, qw)
- 欧拉角 (obs_right_ee_euler_xyz): float32, 形状 [3] (roll, pitch, yaw)
- 夹爪 (obs_right_gripper): float32, 形状 [1] (gripper)
头部摄像头状态
- 位置 (obs_head_camera_position): float32, 形状 [3] (x, y, z)
- 四元数 (obs_head_camera_quat_xyzw): float32, 形状 [4] (qx, qy, qz, qw)
- 欧拉角 (obs_head_camera_euler_xyz): float32, 形状 [3] (roll, pitch, yaw)
左臂动作
- 位置 (action_left_ee_position): float32, 形状 [3] (x, y, z)
- 四元数 (action_left_ee_quat_xyzw): float32, 形状 [4] (qx, qy, qz, qw)
- 欧拉角 (action_left_ee_euler_xyz): float32, 形状 [3] (roll, pitch, yaw)
右臂动作
- 位置 (action_right_ee_position): float32, 形状 [3] (x, y, z)
- 四元数 (action_right_ee_quat_xyzw): float32, 形状 [4] (qx, qy, qz, qw)
- 欧拉角 (action_right_ee_euler_xyz): float32, 形状 [3] (roll, pitch, yaw)
- 夹爪 (action_right_gripper): float32, 形状 [1] (gripper)
数据存储结构
- 数据文件路径:
data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet - 视频文件路径:
videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 - 配置文件: meta/info.json
