demo_src_stack_task_D0_robot_UR5e_gripper_Robotiq85Gripper
收藏资源简介：
这是一个机器人学数据集，使用LeRobot工具创建，专注于跨体现学习和模仿生成任务。数据集基于UR5e机器人和Robotiq85Gripper夹爪，用于堆叠任务。它包含500个episodes和55046帧数据，数据以parquet文件格式存储，视频以mp4格式存储。特征包括动作（如dx、dy、dz、drx、dry、drz、gripper）、观察状态（如末端执行器位置和姿态、关节位置、夹爪状态）、以及来自agentview和wrist摄像头的RGB图像（分辨率为256x256）。数据集结构支持机器人控制和学习算法的训练与评估。
This is a robotics dataset developed using the LeRobot toolkit, focused on cross-embodiment learning and imitation generation tasks. It is built on the UR5e robotic arm and Robotiq85Gripper gripper, targeting object stacking tasks. The dataset comprises 500 episodes and 55,046 frames of data, where the structured numerical data is stored in Parquet files, while the corresponding videos are saved in MP4 format. Its data features cover actions (e.g., dx, dy, dz, drx, dry, drz, gripper command), observation states including end-effector position and pose, joint positions, and gripper state, as well as RGB images captured by the agentview and wrist cameras with a resolution of 256×256. The dataset structure is designed to support the training and evaluation of robotic control and machine learning algorithms.
数据集概述
- 数据集名称: demo_src_stack_task_D0_robot_UR5e_gripper_Robotiq85Gripper
- 许可证: Apache-2.0
- 任务类别: 机器人学 (robotics)
- 标签: LeRobot, mimicgen, lerobot, robotics, cross-embodiment, robosuite
数据集规模
- 总集数 (episodes): 500
- 总帧数 (frames): 55,046
- 总任务数: 1
- 帧率 (FPS): 20
- 数据文件大小: 约 100 MB
- 视频文件大小: 约 200 MB
数据集结构
- 数据格式: Parquet 文件，路径为:
data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet - 视频格式: MP4 文件，路径为:
videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4 - 分块大小 (chunk size): 1000
- 数据集划分:
- 训练集: 0 到 500 集 (全部)
特征 (Features)
| 特征名称 | 数据类型 | 形状 | 字段说明 |
|---|---|---|---|
| action | float32 | [7] | 动作：dx, dy, dz, drx, dry, drz, gripper |
| observation.state | float32 | [2] | 状态：zero0, zero1 |
| observation.eef | float32 | [7] | 末端执行器位姿：位置 (x, y, z) 和四元数 (x, y, z, w) |
| observation.gripper | float32 | [6] | 夹爪关节位置：gripper_qpos_0 至 gripper_qpos_5 |
| observation.joint | float32 | [7] | 关节位置：joint_pos_0 至 joint_pos_6 |
| observation.eef_gripper | float32 | [13] | 末端执行器位姿 (7维) + 夹爪关节位置 (6维) |
| observation.joint_gripper | float32 | [13] | 关节位置 (7维) + 夹爪关节位置 (6维) |
| observation.images.agentview | video | [256,256,3] | 机器人视角RGB图像，AV1编码，20 FPS |
| observation.images.wrist | video | [256,256,3] | 腕部视角RGB图像，AV1编码，20 FPS |
| timestamp | float32 | [1] | 时间戳 |
| frame_index | int64 | [1] | 帧索引 |
| episode_index | int64 | [1] | 集索引 |
| index | int64 | [1] | 全局索引 |
| task_index | int64 | [1] | 任务索引 |
其他信息
- 机器人类型: 跨实体 (cross_embodiment)
- 代码库版本: v3.0
- 创建工具: 该数据集使用 LeRobot 创建。
