xhaka3456/aic_ur5e_sim_v4_tc_v1cmd

这是一个使用LeRobot创建的机器人控制数据集，专为UR5e机器人设计。数据集包含392个episode，总计102,485帧数据，涵盖3个不同的任务。数据以20fps的帧率采集，包括来自左、中、右三个相机的视频观测（分辨率480x640，H.264编码，YUV420p格式），以及26维的机器人状态观测（包括TCP位置、四元数、线速度、角速度、6个关节角度、夹爪状态、力和力矩信息）。动作空间为6维，表示位置和轴角的变化。数据集以parquet格式存储，总大小约300MB（数据100MB，视频200MB），仅包含训练集。This is a robotics control dataset created using LeRobot, specifically designed for the UR5e robot. It contains 392 episodes with a total of 102,485 frames, covering 3 distinct tasks. Data is collected at 20fps and includes video observations from left, center, and right cameras (480x640 resolution, H.264 codec, YUV420p format), along with 26-dimensional robot state observations (including TCP position, quaternion, linear/angular velocities, 6 joint angles, gripper state, and force/torque information). The action space is 6-dimensional, representing delta position and axis-angle changes. The dataset is stored in parquet format, with a total size of approximately 300MB (100MB for data, 200MB for videos), and contains only a training split.