JHaeringer/isaac_piper_cube_pick_place_2

该数据集是一个机器人学数据集，专注于拾取和放置任务，使用LeRobot工具创建，并可能基于Isaac Sim仿真环境。数据集包含100个episodes，总计25922帧，帧率为30fps，数据以parquet格式存储，视频以mp4格式存储。数据集结构包括观察数据（如顶部和手腕的RGB图像、深度图、机器人状态和末端执行器状态）和动作数据（如电机控制和末端执行器姿态），适用于机器人控制和学习任务。数据特征包括图像分辨率720x1280、深度图、7维电机状态和8维姿态信息。

---
**许可证**：Apache-2.0
**任务类别**：
- 机器人学（robotics）
**标签**：
- LeRobot
- isaac-sim
- piper
- 抓取放置（pick-and-place）
**配置项**：
- 配置名称：default
数据文件路径：data/*/*.parquet
---

本数据集基于 [LeRobot（LeRobot）](https://github.com/huggingface/lerobot) 框架构建。

<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=JHaeringer/isaac_piper_cube_pick_place_2">
<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>

## 数据集说明

- **主页**：[暂未提供更多信息]
- **论文**：[暂未提供更多信息]
- **许可证**：Apache-2.0

## 数据集结构

[meta/info.json]:
json
{
"codebase_version": "v3.0",
"robot_type": "AgileX Piper",
"total_episodes": 100,
"total_frames": 25922,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:100"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {
"observation.images.top": {
"dtype": "video",
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 720,
"video.width": 1280,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.wrist": {
"dtype": "video",
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 720,
"video.width": 1280,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.camera_top_depth": {
"dtype": "int32",
"shape": [
720,
1280
],
"names": [
"height",
"width"
]
},
"observation.camera_wrist_depth": {
"dtype": "int32",
"shape": [
720,
1280
],
"names": [
"height",
"width"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
7
],
"names": {
"motors": [
"shoulder_pan（肩偏航关节）",
"shoulder_lift（肩抬升关节）",
"elbow_flex（肘屈曲关节）",
"elbow_roll（肘滚转关节）",
"wrist_flex（腕屈曲关节）",
"wrist_roll（腕滚转关节）",
"gripper（夹爪）"
]
}
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": {
"motors": [
"shoulder_pan（肩偏航关节）",
"shoulder_lift（肩抬升关节）",
"elbow_flex（肘屈曲关节）",
"elbow_roll（肘滚转关节）",
"wrist_flex（腕屈曲关节）",
"wrist_roll（腕滚转关节）",
"gripper（夹爪）"
]
}
},
"observation.state_ee": {
"dtype": "float32",
"shape": [
8
],
"names": {
"pose": [
"x",
"y",
"z",
"qx",
"qy",
"qz",
"qw",
"gripper_cmd（夹爪指令）"
]
}
},
"action_ee": {
"dtype": "float32",
"shape": [
8
],
"names": {
"pose": [
"x",
"y",
"z",
"qx",
"qy",
"qz",
"qw",
"gripper_cmd（夹爪指令）"
]
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}

## 引用

**BibTeX格式：**

bibtex
[暂未提供更多信息]