train_triple_fps15_Geen_Zoey2

该数据集由LeRobot创建，专注于机器人技术领域，特别针对UR机器人。它包含机器人动作和观测状态数据，动作和状态特征涉及7个关节：肩部平移关节、肩部提升关节、肘关节、手腕1-3关节和夹爪关节。观测数据包括来自多个摄像头的图像：侧面摄像头、手腕摄像头和顶部摄像头，每个图像的分辨率为480x640像素，3个通道（RGB）。此外，数据集还包含时间戳、帧索引、剧集索引、索引和任务索引等元数据。数据以Parquet文件格式存储，视频文件为MP4格式，帧率为15fps。数据集支持分块处理，每个块大小为1000条记录，总数据文件大小为100MB，视频文件大小为200MB。This dataset is created by LeRobot and focuses on the robotics domain, specifically for UR robots. It includes robot action and observation state data, with both action and state features involving 7 joints: shoulder pan joint, shoulder lift joint, elbow joint, wrist 1-3 joints, and gripper joint. Observation data comprises images from multiple cameras: side camera, wrist camera, and top camera, each with a resolution of 480x640 pixels and 3 channels (RGB). Additionally, the dataset contains metadata such as timestamps, frame index, episode index, index, and task index. Data is stored in Parquet file format, with video files in MP4 format at a frame rate of 15fps. The dataset supports chunked processing, with each chunk containing 1000 records, total data file size is 100MB, and video file size is 200MB.

原始信息汇总

数据集概述

• 数据集名称: train_triple_fps15_Geen_Zoey2
• 许可证: Apache-2.0
• 任务类别: 机器人技术 (Robotics)
• 标签: LeRobot
• 创建工具: 使用 LeRobot 创建

数据集结构

基本信息

• 机器人类型: UR (Universal Robots)
• 帧率 (FPS): 15
• 总片段数 (总集数): 0
• 总帧数: 0
• 总任务数: 0
• 块大小 (chunks_size): 1000
• 数据文件大小: 100 MB
• 视频文件大小: 200 MB

数据路径

• 数据存储路径: data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
• 视频存储路径: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4

特征 (Features)

特征名	数据类型	形状	说明
action	float32	[7]	关节动作：shoulder_pan_joint, shoulder_lift_joint, elbow_joint, wrist_1_joint, wrist_2_joint, wrist_3_joint, gripper_joint
observation.state	float32	[7]	观测状态，与动作相同的7个关节
observation.images.side	video	[480, 640, 3]	侧方摄像头图像 (高度480, 宽度640, 3通道)
observation.images.wrist	video	[480, 640, 3]	手腕摄像头图像
observation.images.top	video	[480, 640, 3]	顶部摄像头图像
timestamp	float32	[1]	时间戳
frame_index	int64	[1]	帧索引
episode_index	int64	[1]	片段索引
index	int64	[1]	索引
task_index	int64	[1]	任务索引

配置说明

• 配置名称: default
• 数据文件: data/*/*.parquet