griffinlabs/umi-orbbec-100eps
收藏资源简介：
该数据集是一个机器人数据集，专为orbbec_umi机器人设计，使用LeRobot工具创建。它包含102个episodes，总计57377帧数据，以30fps的帧率采集。数据以parquet文件格式存储，视频以mp4格式存储。数据集的特征包括观察状态（如右工具中心点TCP的x、y、z坐标和旋转角度rx、ry、rz，以及右夹爪状态）、动作（与观察状态相同的维度）、彩色图像（分辨率为800x1280，3通道）、时间戳、帧索引、episode索引、索引和任务索引。所有数据用于机器人任务，但具体任务内容未在README中明确说明。
This dataset is a robotics dataset designed for the orbbec_umi robot and created using LeRobot. It contains 102 episodes with a total of 57,377 frames collected at 30 fps. The data is stored in parquet format, and videos are stored in mp4 format. The dataset features include observation state (such as right TCP x, y, z coordinates, rotation angles rx, ry, rz, and right gripper status), action (with the same dimensions as observation state), color images (resolution 800x1280, 3 channels), timestamp, frame index, episode index, index, and task index. All data is intended for robotics tasks, but specific task details are not explicitly mentioned in the README.
