demo_src_coffee_preparation_task_D0_robot_Sawyer_gripper_RethinkGripper
收藏资源简介：
该数据集是使用LeRobot创建的机器人学数据集，专注于跨体模仿生成任务。数据集包含100个episodes，总计69295帧，涉及一个任务。数据以parquet文件格式组织，每个chunk大小为1000帧，总数据文件大小为100MB，视频文件大小为200MB，帧率为20fps。特征包括动作（7维浮点数组，表示dx、dy、dz、drx、dry、drz和gripper控制）、观测（如状态、末端执行器位置和姿态、夹爪状态、关节位置，以及来自agentview和wrist视角的256x256 RGB视频），以及时间戳、帧索引、episode索引等元数据。数据集适用于机器人控制、模仿学习等研究。
This dataset is a robotics dataset created using LeRobot, focusing on cross-embodiment imitation generation tasks. It contains 100 episodes, totaling 69,295 frames, and involves one task. The data is organized in parquet file format, with each chunk sized at 1,000 frames. The total data file size is 100MB, the video file size is 200MB, and the frame rate is 20fps. Features include actions (a 7-dimensional floating-point array representing dx, dy, dz, drx, dry, drz, and gripper control), observations (such as state, end-effector position and pose, gripper status, joint positions, and 256x256 RGB videos from agentview and wrist perspectives), as well as metadata like timestamps, frame indices, and episode indices. The dataset is suitable for research in robotics control, imitation learning, and related fields.
数据集概述
- 名称: demo_src_coffee_preparation_task_D0_robot_Sawyer_gripper_RethinkGripper
- 许可证: Apache-2.0
- 任务类别: 机器人学 (Robotics)
- 标签: LeRobot, mimicgen, lerobot, robotics, cross-embodiment
数据集结构
- 代码库版本: v3.0
- 机器人类型: 跨实体 (cross_embodiment)
- 总片段数: 100
- 总帧数: 69295
- 总任务数: 1
- 帧率 (FPS): 20
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 数据集划分: 训练集 (0:100)
特征 (Features)
| 特征名 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
action |
float32 | [7] | 动作：包括位置变化 (dx, dy, dz)、旋转变化 (drx, dry, drz) 和夹爪 (gripper) |
observation.state |
float32 | [2] | 状态：包含 zero0, zero1 |
observation.eef |
float32 | [7] | 末端执行器位姿：位置 (x, y, z) 和四元数 (x, y, z, w) |
observation.gripper |
float32 | [6] | 夹爪位置：包含 gripper_qpos_0 至 gripper_qpos_5 |
observation.joint |
float32 | [7] | 关节位置：包含 joint_pos_0 至 joint_pos_6 |
observation.eef_gripper |
float32 | [13] | 末端执行器与夹爪组合 (7个末端执行器参数 + 6个夹爪参数) |
observation.joint_gripper |
float32 | [13] | 关节与夹爪组合 (7个关节参数 + 6个夹爪参数) |
observation.images.agentview |
video | [256, 256, 3] | 主视角摄像头视频 (AV1编码, 20 FPS) |
observation.images.wrist |
video | [256, 256, 3] | 腕部摄像头视频 (AV1编码, 20 FPS) |
timestamp |
float32 | [1] | 时间戳 |
frame_index |
int64 | [1] | 帧索引 |
episode_index |
int64 | [1] | 片段索引 |
index |
int64 | [1] | 索引 |
task_index |
int64 | [1] | 任务索引 |
