cell1_20260515_light-green-short-sleeve-tshirt_folding_unfolding_fault_episode-3-4
收藏资源简介：
该数据集由LeRobot创建，专用于机器人学任务。它包含2个episodes，总计2945帧，涉及一个具体任务。数据特征包括：动作数据（14维浮点数，用于控制两个机械臂的位姿和夹爪宽度）、状态观测数据（32维浮点数，涵盖编码器角度、IMU加速度和角速度、机械臂位姿和夹爪状态）、以及多个摄像头图像（包括RGB和深度图像，来自左腕、右腕和基座摄像头，分辨率分别为480x640和768x1024，帧率为30fps）。此外，数据集还包含时间戳、帧索引、episode索引等元数据。机器人类型为starpilot_yam_gripper，数据以Parquet格式存储，视频以MP4格式存储。
This dataset is created by LeRobot for robotics tasks. It contains 2 episodes, totaling 2945 frames, involving one task. Data features include: action data (14-dimensional floating-point numbers, controlling the pose of two robotic arms and gripper width), state observation data (32-dimensional floating-point numbers, including encoder angles, IMU acceleration and angular velocity, robotic arm pose, and gripper status), and multiple camera images (RGB and depth images from left wrist, right wrist, and base cameras, with resolutions of 480x640 and 768x1024, and a frame rate of 30fps). Additionally, metadata such as timestamps, frame indices, and episode indices are included. The robot type is starpilot_yam_gripper, data is stored in Parquet format, and videos are stored in MP4 format.
数据集概述
- 数据集名称: cell1_20260515_light-green-short-sleeve-tshirt_folding_unfolding_fault_episode-3-4
- 来源地址: https://huggingface.co/datasets/nodogoro/cell1_20260515_light-green-short-sleeve-tshirt_folding_unfolding_fault_episode-3-4
- 许可证: Apache-2.0
- 任务类别: 机器人学 (Robotics)
- 创建工具: LeRobot
数据集结构
- 机器人类型: starpilot_yam_gripper
- 总片段数: 2
- 总帧数: 2945
- 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: 30 fps
- 数据分割: 训练集 (0:2)
特征信息
| 特征名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
| action | float32 | [14] | 包含两个机械臂的 x/y/z 位置、旋转 (rx/ry/rz) 和夹爪宽度 |
| observation.state | float32 | [32] | 包含两个机械臂的编码器角度、IMU 数据、位姿 (x/y/z/四元数)、夹爪打开状态与距离 |
| observation.images.left_wrist_0_camera_rgb_image | video | [480, 640, 3] | 左腕 RGB 相机图像，H.264 编码，30fps |
| observation.images.left_wrist_0_camera_rgb_image_depth | video | [480, 640, 3] | 左腕深度相机 RGB 图像，H.264 编码，30fps |
| observation.images.right_wrist_0_camera_rgb_image | video | [480, 640, 3] | 右腕 RGB 相机图像，H.264 编码，30fps |
| observation.images.right_wrist_0_camera_rgb_image_depth | video | [480, 640, 3] | 右腕深度相机 RGB 图像，H.264 编码，30fps |
| observation.images.base_0_camera_rgb_image | video | [480, 640, 3] | 基座 RGB 相机图像，H.264 编码，30fps |
| observation.images.base_1_camera_rgb_image | video | [768, 1024, 3] | 基座第二 RGB 相机图像，H.264 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 |
数据与视频路径
- 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
