taccap-g1-restock-snack-and-drink-counter-0708
收藏资源简介：
该数据集由LeRobot创建，专注于机器人学任务，具体涉及使用双指夹爪机器人（bi_taccap_gripper）执行补充零食和饮料柜台的场景。数据集包含10个episodes，总计29,679帧，覆盖1个任务。数据以30fps的帧率采集，并包括以下特征：动作数据（如左右夹爪的TCP位置、旋转和夹爪位置）、状态观测（与动作相同的数据）、多个图像观测（包括左右触觉传感器图像和左右手腕摄像头视频，图像分辨率和视频属性在元数据中指定），以及时间戳、帧索引、episode索引等元数据。数据集结构基于parquet文件，适用于机器人控制和强化学习研究。
This dataset is created by LeRobot and focuses on robotics tasks, specifically involving the use of a bi_taccap_gripper (dual-finger gripper robot) to perform a scenario of replenishing snack and beverage counters. It contains 10 episodes, totaling 29,679 frames, covering 1 task. Data is collected at 30fps and includes the following features: action data (such as TCP positions, rotations, and gripper positions for left and right grippers), state observations (same data as actions), multiple image observations (including left and right tactile sensor images and left and right wrist camera videos, with image resolution and video attributes specified in metadata), as well as metadata like timestamps, frame indices, and episode indices. The dataset structure is based on parquet files and is suitable for robotics control and reinforcement learning research.
数据集概述
- 名称: taccap-g1-restock-snack-and-drink-counter-0708
- 许可证: Apache-2.0
- 任务类别: 机器人学 (robotics)
- 标签: LeRobot
数据集详情
该数据集使用 LeRobot 创建，包含机器人补货任务的相关数据。
数据规模
- 总片段数 (total_episodes): 10
- 总帧数 (total_frames): 29679
- 总任务数 (total_tasks): 1
- 帧率 (fps): 30
- 数据文件大小 (data_files_size_in_mb): 100 MB
- 视频文件大小 (video_files_size_in_mb): 200 MB
- 划分: 训练集 (train) 包含片段 0 到 9
机器人类型
- 机器人类型: bi_taccap_gripper (双臂触觉夹爪机器人)
特征 (Features)
| 特征名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
| action | float32 | [20] | 机器人动作，包含双臂 TCP (工具中心点) 位置/姿态 (x, y, z, r1-r6) 和夹爪位置 |
| observation.state | float32 | [20] | 机器人状态，与动作空间相同 (双臂 TCP 和夹爪位置) |
| observation.images.left_tactile_left | video | [400, 700, 3] | 左侧触觉左摄像头视频，分辨率 400x700，H264 编码，30fps |
| observation.images.left_tactile_right | video | [400, 700, 3] | 左侧触觉右摄像头视频，分辨率 400x700，H264 编码，30fps |
| observation.images.left_wrist | video | [480, 640, 3] | 左手腕摄像头视频，分辨率 480x640，H264 编码，30fps |
| observation.images.right_tactile_left | video | [400, 700, 3] | 右侧触觉左摄像头视频，分辨率 400x700，H264 编码，30fps |
| observation.images.right_tactile_right | video | [400, 700, 3] | 右侧触觉右摄像头视频，分辨率 400x700，H264 编码，30fps |
| observation.images.right_wrist | video | [480, 640, 3] | 右手腕摄像头视频，分辨率 480x640，H264 编码，30fps |
| timestamp | float32 | [1] | 时间戳 |
| frame_index | int64 | [1] | 帧索引 |
| episode_index | int64 | [1] | 片段索引 |
| index | int64 | [1] | 全局索引 |
| task_index | int64 | [1] | 任务索引 |
数据存储结构
- 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 - 数据文件格式: Parquet
- 视频编码: H264
引用
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} }
