taccap-g1-put-pen-into-holder-0706

该数据集是一个机器人操作数据集，专门用于双机械臂触觉操作任务，具体任务为“将笔放入笔架”。数据集由LeRobot工具创建，包含20个完整的情节（episodes），总计40992帧数据，帧率为30fps。数据以parquet格式存储，视频以mp4格式存储。数据集特征包括：动作数据（包含左右机械臂的TCP位置、旋转和夹爪位置）、观测状态数据（与动作类似的结构）、以及多视角图像数据（包括左右机械臂的触觉传感器图像和腕部摄像头图像，触觉图像分辨率为400x700，腕部图像分辨率为480x640）。所有数据均用于训练机器人执行精细操作任务，适用于机器人学习和强化学习研究。

This dataset is a robotic manipulation dataset specifically designed for dual-arm tactile manipulation tasks, with the concrete task of placing a pen into a pen holder. It was created using the LeRobot tool and contains 20 complete episodes, totaling 40,992 frames of data at a frame rate of 30fps. The data is stored in parquet format, with videos in mp4 format. The dataset features include: action data (containing TCP positions, rotations, and gripper positions for both left and right robotic arms), observation state data (with a structure similar to actions), and multi-view image data (including tactile sensor images from both left and right arms and wrist camera images, with tactile image resolution of 400x700 and wrist image resolution of 480x640). All data is intended for training robots to perform fine manipulation tasks and is suitable for robotic learning and reinforcement learning research.

原始信息汇总

数据集概述

• 数据集名称: taccap-g1-put-pen-into-holder-0706
• 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

数据集结构

• 代码库版本: v3.0
• 机器人类型: bi_taccap_gripper
• 总片段数 (Episodes): 20
• 总帧数: 40,992
• 总任务数: 1
• 分块大小: 1000
• 数据文件大小: 100 MB
• 视频文件大小: 200 MB
• 帧率 (FPS): 30
• 数据划分 (Splits): 仅包含训练集 (train: 0-20)

特征 (Features)

• 动作 (action):

  • 数据类型: float32
  • 维度: 20
  • 包含: 左右TCP位置 (x, y, z, r1-r6)、左右夹爪位置 (gripper.pos)

• 观测状态 (observation.state):

  • 数据类型: float32
  • 维度: 20
  • 包含: 与动作相同的20个状态变量

• 图像观测 (observation.images):

  • left_tactile_left: 400x700x3, 视频(h264), 30fps
  • left_tactile_right: 400x700x3, 视频(h264), 30fps
  • left_wrist: 480x640x3, 视频(h264), 30fps
  • right_tactile_left: 400x700x3, 视频(h264), 30fps
  • right_tactile_right: 400x700x3, 视频(h264), 30fps
  • right_wrist: 480x640x3, 视频(h264), 30fps

• 其他特征:

  • 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]

数据路径

• 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

引用信息

bibtex @misc{xense-taccap-lerobot, author = {XenseRobotics Team}, title = {LeRobot-Xense: LeRobot with Xense Tactile Robotics Support}, howpublished = {url{https://github.com/Vertax42/xense-taccap-lerobot}}, year = {2026} }