Omniverse Robot System (ORS)

该数据集名为ORS，旨在方便收集包括机器人关节角度、末端执行器姿态、关节速度、力以及由“Robotiq”传感器提供的扭矩读数、任务图像以及多个任务中的实时标签等数据。此外，该数据集包含了使用UR5机器人臂及多种传感器记录的专家演示和实时标签，涵盖多种任务。其规模涉及六个离线任务和五个在线测试任务的数据收集，任务内容主要针对机器人操作任务。This dataset, designated as ORS, is developed to facilitate the collection of multimodal data including robot joint angles, end-effector poses, joint velocities, force measurements, torque readings acquired from "Robotiq" sensors, task images, and real-time labels for various tasks. Furthermore, this dataset includes expert demonstrations and real-time labels recorded with a UR5 robotic arm and multiple types of sensors, spanning a diverse set of tasks. It covers data collected from six offline tasks and five online test tasks, all of which primarily focus on robotic manipulation tasks.