taccap-g1-arrange-desk-items-0724

该数据集是一个机器人学数据集，由LeRobot创建，专门用于双TacCap夹爪机器人系统。数据集包含37个完整的情节（episodes），总计355,644帧数据，帧率为30fps，仅涵盖一个任务。数据特征包括动作和观察状态：动作特征为20维浮点数组，表示左右机器人的工具中心点（TCP）的x、y、z坐标、六个旋转参数（r1至r6）以及夹爪位置；观察状态特征同样为20维浮点数组，与动作特征对应。此外，观察部分包含多个视频图像数据：左右触觉传感器图像（分辨率为400x700，3通道）和左右手腕摄像头图像（分辨率为480x640，3通道），所有视频均以h264编码、yuv420p像素格式存储，无音频。数据集还包括时间戳、帧索引、情节索引、索引和任务索引等元数据。数据以parquet文件格式组织，分块存储，总数据文件大小为100MB，视频文件大小为200MB。该数据集适用于机器人控制、感知和强化学习研究，特别是涉及触觉反馈和视觉导航的任务。This is a robotics dataset created by LeRobot, specifically designed for the dual TacCap gripper robotic system. The dataset contains 37 full episodes, totaling 355,644 frames at 30fps, and covers only one single task. The data features include action and observation states: the action feature is a 20-dimensional floating-point array, representing the x, y, z coordinates of the tool center point (TCP) of the left and right robots, six rotation parameters (r1 to r6), and the gripper position; the observation state feature is also a 20-dimensional floating-point array, corresponding to the action features. Additionally, the observation section includes multiple video image datasets: left and right tactile sensor images (resolution 400×700, 3 channels) and left and right wrist camera images (resolution 480×640, 3 channels). All videos are stored in h264 encoding with yuv420p pixel format, and contain no audio. The dataset also includes metadata such as timestamps, frame indices, episode indices, data indices and task indices. The data is organized in Parquet file format and stored in chunks, with a total data file size of 100MB and a total video file size of 200MB. This dataset is applicable to robotics control, perception and reinforcement learning research, especially for tasks involving tactile feedback and visual navigation.