DORLR/teleop_isaaclab_ur5_udsci_success_13_demo
收藏资源简介：
该数据集是使用LeRobot工具创建的机器人演示数据集，专门针对UR5机器人在可变形堆叠长方体插入环境（UR5-Deformable-StackedCuboid-Insertion-v0）中的操作任务。数据集包含2个完整演示片段，总计5730帧数据，覆盖1个任务类型。数据以30fps录制，特征包括来自两个摄像头（cam_side2和cam_color）的512x512分辨率图像观测、7维关节状态（肩部、肘部、腕部等关节）、7维笛卡尔状态（末端执行器位置和四元数姿态）以及7维动作控制信号。数据存储为Parquet格式，适用于机器人学习、模仿学习或强化学习研究。
许可证：apache-2.0 任务类别： - 机器人学 标签： - LeRobot - isaaclab_ur5 - robotis - env:UR5-可变形堆叠长方体插入-v0 - isaaclab:1e1a6395 - 主机:robotics-server-1 - 日期:2026-05-28 - 平台:x86_64 配置项： - 配置名称：默认 数据文件：data/*/*.parquet 本数据集基于[LeRobot](https://github.com/huggingface/lerobot)构建。 <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=DORLR/teleop_isaaclab_ur5_udsci_success_13_demo"> <img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/> <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/> </a> ## 数据集描述 - **主页：** [需补充更多信息] - **论文：** [需补充更多信息] - **许可证：** apache-2.0 ## 数据集结构 [meta/info.json](meta/info.json): json { "代码库版本": "v3.0", "机器人类型": "isaaclab_ur5", "总回合数": 2, "总帧数": 5730, "总任务数": 1, "分块大小": 1000, "数据文件总大小（MB）": 100, "视频文件总大小（MB）": 200, "帧率": 30, "划分方式": { "训练集": "0:2" }, "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", "特征项": { "时间戳": { "数据类型": "float32", "形状": [ 1 ], "字段名": null }, "帧索引": { "数据类型": "int64", "形状": [ 1 ], "字段名": null }, "回合索引": { "数据类型": "int64", "形状": [ 1 ], "字段名": null }, "索引": { "数据类型": "int64", "形状": [ 1 ], "字段名": null }, "任务索引": { "数据类型": "int64", "形状": [ 1 ], "字段名": null }, "观测.图像.cam_side2": { "数据类型": "video", "字段名": [ "高度", "宽度", "通道数" ], "形状": [ 512, 512, 3 ], "附加信息": { "视频.高度": 512, "视频.宽度": 512, "视频.通道数": 3, "视频.编码格式": "libx264", "视频.像素格式": "yuv420p" } }, "观测.图像.cam_color": { "数据类型": "video", "字段名": [ "高度", "宽度", "通道数" ], "形状": [ 512, 512, 3 ], "附加信息": { "视频.高度": 512, "视频.宽度": 512, "视频.通道数": 3, "视频.编码格式": "libx264", "视频.像素格式": "yuv420p" } }, "观测.状态": { "数据类型": "float32", "字段名": [ "肩摆关节", "肩升关节", "肘关节", "腕1关节", "腕2关节", "腕3关节", "手指关节" ], "形状": [ 7 ] }, "动作": { "数据类型": "float32", "字段名": [ "肩摆关节", "肩升关节", "肘关节", "腕1关节", "腕2关节", "腕3关节", "手指关节" ], "形状": [ 7 ] }, "观测.笛卡尔状态": { "数据类型": "float32", "字段名": [ "末端执行器X坐标", "末端执行器Y坐标", "末端执行器Z坐标", "末端执行器四元数X分量", "末端执行器四元数Y分量", "末端执行器四元数Z分量", "末端执行器四元数W分量" ], "形状": [ 7 ] } }, "标签": [ "isaaclab_ur5", "robotis", "env:UR5-可变形堆叠长方体插入-v0", "isaaclab:1e1a6395", "主机:robotics-server-1", "日期:2026-05-28", "平台:x86_64" ] } ## 引用 **BibTeX格式：** bibtex [需补充更多信息]
