demo_src_three_piece_assembly_task_D2_robot_UR5e_gripper_Robotiq85Gripper
收藏资源简介：
该数据集是一个机器人学数据集，使用LeRobot创建，专注于模仿生成和跨具身任务。它包含500个episodes，总计168,804帧数据，帧率为20fps，涉及单一任务。数据以parquet文件格式存储，总数据文件大小为100MB，视频文件大小为200MB。数据集包括动作和观测特征：动作数据为7维浮点数，表示机器人的位置、旋转和夹爪控制；观测数据包括状态（如末端效应器位置和姿态、关节位置、夹爪状态）以及两个视角的图像视频（agentview和wrist视角），均为256x256分辨率的RGB视频，编码为av1格式。数据集还包含时间戳、帧索引、episode索引等元数据，适用于机器人控制、模仿学习等研究。
This robotics dataset was developed using LeRobot, with a focus on imitation generation and cross-embodied tasks. It contains 500 episodes, totaling 168,804 frames at a frame rate of 20 fps, targeting a single task. The data is stored in Parquet file format, with a total data file size of 100 MB and a video file size of 200 MB. The dataset includes action and observation features: the action data consists of 7-dimensional floating-point numbers, representing the robot's position, rotation, and gripper control. The observation data includes states such as end-effector position and pose, joint positions, and gripper status, as well as image videos from two viewpoints: agentview and wrist. Both are 256×256 resolution RGB videos encoded in the AV1 format. Additionally, the dataset contains metadata including timestamps, frame indices, and episode indices, making it suitable for research in areas such as robotics control and imitation learning.
数据集概述
- 数据集名称: demo_src_three_piece_assembly_task_D2_robot_UR5e_gripper_Robotiq85Gripper
- 许可证: Apache-2.0
- 任务类别: 机器人学 (Robotics)
- 创建工具: 使用 LeRobot 创建
- 机器人类型: 跨本体 (cross-embodiment)，机器人型号为 UR5e，夹爪为 Robotiq85Gripper
- 任务: 三件装配任务 (Three Piece Assembly Task)
数据集规模
- 总片段数 (Episodes): 500
- 总帧数 (Frames): 168,804
- 总任务数: 1
- 数据块大小 (Chunks): 1000
- 数据文件大小: 约 100 MB
- 视频文件大小: 约 200 MB
- 帧率 (FPS): 20
数据集拆分
- 训练集: 片段 0 至 499 (全部数据)
数据特征
| 特征名 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
action |
float32 | [7] | 动作空间，包含 dx, dy, dz, drx, dry, drz, gripper |
observation.state |
float32 | [2] | 状态观测，包含 zero0, zero1 |
observation.eef |
float32 | [7] | 末端执行器位姿，包含位置 (x,y,z) 和四元数 (x,y,z,w) |
observation.gripper |
float32 | [6] | 夹爪关节位置 (qpos_0 至 qpos_5) |
observation.joint |
float32 | [7] | 机器人关节位置 (joint_pos_0 至 joint_pos_6) |
observation.eef_gripper |
float32 | [13] | 末端执行器位姿与夹爪关节位置的组合 |
observation.joint_gripper |
float32 | [13] | 机器人关节位置与夹爪关节位置的组合 |
observation.images.agentview |
视频 (AV1) | [256, 256, 3] | 代理视角 RGB 图像，帧率 20 FPS |
observation.images.wrist |
视频 (AV1) | [256, 256, 3] | 腕部视角 RGB 图像，帧率 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] | 全局索引 |
task_index |
int64 | [1] | 任务索引 |
数据存储结构
- 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
