taccap-g1-peel-cucumber-0707
收藏资源简介：
该数据集使用LeRobot框架创建，专注于机器人学任务，具体任务为剥黄瓜。它涉及双TacCap夹爪机器人（bi_taccap_gripper），总帧数为7415，帧率为30fps。数据特征包括20维的动作和状态向量（例如左右夹爪的TCP位置和姿态），以及多视角的触觉图像（左右触觉传感器，分辨率为400x700）和视觉图像（左右腕部摄像头，分辨率为480x640），所有视频数据采用h264编码。数据集主要用于机器人操作学习和触觉感知研究。
This dataset is created using the LeRobot framework and focuses on robotics tasks, specifically the task of peeling cucumbers. It involves a dual TacCap gripper robot (bi_taccap_gripper), with a total of 7415 frames at a frame rate of 30fps. The data features include 20-dimensional action and state vectors (such as TCP positions and orientations of the left and right grippers), as well as multi-view tactile images (left and right tactile sensors with a resolution of 400x700) and visual images (left and right wrist cameras with a resolution of 480x640), with all video data encoded in h264. The dataset is primarily used for research in robot manipulation learning and tactile perception.
