cell1_20260520_laundry_folding_20260520_141201
收藏资源简介：
该数据集是使用LeRobot工具创建的，专注于机器人技术领域，具体涉及折叠衣物任务。数据集包含两个总集数，共1604帧，采用30帧每秒的帧率。数据采集自starpilot_yam_gripper类型的机器人，包括两个机械臂的动作和状态观测数据。动作特征涵盖14个维度，如机械臂的位置、旋转和抓取宽度；状态观测特征包括32个维度，如编码器角度、IMU数据和姿态信息。此外，数据集提供多视角图像数据，包括左右手腕摄像头和基座摄像头的RGB图像（部分带有深度信息），图像分辨率分别为480x640和768x1024。数据结构以Parquet文件格式存储，总数据文件大小为100MB，视频文件大小为200MB。
This dataset was created using the LeRobot tool, focusing on the robotics field, specifically targeting the clothing folding task. It contains two total episodes with a total of 1604 frames, operating at a frame rate of 30 frames per second. The data was collected from a starpilot_yam_gripper-type robot, encompassing motion and state observation data for two robotic arms. The action features span 14 dimensions, including the position, rotation, and gripper width of the robotic arms; the state observation features include 32 dimensions, such as encoder angles, IMU data, and pose information. Additionally, the dataset provides multi-view image data: RGB images from the left and right wrist cameras and the base camera, some of which are accompanied by depth information, with resolutions of 480x640 and 768x1024 respectively. The data is stored in Parquet file format, with a total data file size of 100 MB and a total video file size of 200 MB.
数据集概述
基本信息
- 数据集名称: cell1_20260520_laundry_folding_20260520_141201
- 许可证: Apache-2.0
- 任务类别: 机器人技术 (Robotics)
- 标签: LeRobot
- 创建工具: 该数据集使用 LeRobot 创建
数据集规模与结构
- 总操作片段 (Total Episodes): 2
- 总帧数 (Total Frames): 1604
- 总任务数 (Total Tasks): 1
- 帧率 (FPS): 30
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 数据分块大小: 1000
- 代码库版本: v3.0
- 机器人类型: starpilot_yam_gripper
- 数据分割: 全部用于训练 (
train: "0:2")
数据文件结构
- 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 - 元数据文件:
meta/info.json
特征 (Features)
动作 (Action)
- 数据类型: float32
- 维度: 14
- 包含字段: arm1_x, arm1_y, arm1_z, arm1_rx, arm1_ry, arm1_rz, arm1_grip_width, arm2_x, arm2_y, arm2_z, arm2_rx, arm2_ry, arm2_rz, arm2_grip_width
观测状态 (Observation.State)
- 数据类型: float32
- 维度: 32
- 包含字段: 两个机械臂的编码器角度 (enc_deg)、IMU加速度/角速度 (ax, ay, az, gx, gy, gz)、位姿 (pose_x, y, z, qx, qy, qz, qw)、夹爪开合状态 (gripper_open) 和夹爪距离 (gripper_distance_m)
观测图像 (Observation.Images)
- 摄像头数量: 6个
- 摄像头类型与分辨率:
left_wrist_0_camera_rgb_image: 480x640 (RGB)left_wrist_0_camera_rgb_image_depth: 480x640 (深度图像)right_wrist_0_camera_rgb_image: 480x640 (RGB)right_wrist_0_camera_rgb_image_depth: 480x640 (深度图像)base_0_camera_rgb_image: 480x640 (RGB)base_1_camera_rgb_image: 768x1024 (RGB)
- 视频编码: H.264，帧率30 FPS
其他特征
- 时间戳 (Timestamp): float32，形状 [1]
- 帧索引 (Frame Index): int64，形状 [1]
- 操作片段索引 (Episode Index): int64，形状 [1]
- 全局索引 (Index): int64，形状 [1]
- 任务索引 (Task Index): int64，形状 [1]
配置 (Config)
- 默认配置:
default，数据文件为data/*/*.parquet
