xhaka3456/aic_ur5e_sim_v3_tc_v0

该数据集由LeRobot创建，是一个机器人操作数据集，使用UR5e机器人采集。数据集包含1391个episodes，总计570,164帧，覆盖3个不同的任务，帧率为20fps。数据以parquet格式存储，总数据文件大小为100MB，视频文件大小为200MB。数据集包含多模态特征：观测部分包括左、中、右三个摄像头的RGB视频数据（分辨率480x640，3通道，H.264编码），以及26维的机器人状态观测（包括工具中心点（TCP）的位置、四元数、线速度和角速度，6个关节角度，夹爪状态，以及力和扭矩数据）。动作数据为6维，包括位置变化（delta_x, delta_y, delta_z）和旋转变化（axis_angle_x, axis_angle_y, axis_angle_z）。此外，还包含时间戳、帧索引、episode索引、任务索引等元数据。数据集仅包含训练集，用于机器人学习任务。

This robotic manipulation dataset was created by LeRobot and collected using a UR5e robot. It contains 1391 episodes, totaling 570,164 frames across 3 distinct tasks, with a frame rate of 20 fps. The data is stored in Parquet format, with a total data file size of 100 MB and a video file size of 200 MB. The dataset includes multimodal features: the observation section consists of RGB video data from left, center and right cameras (resolution 480x640, 3 channels, H.264 encoded), as well as 26-dimensional robotic state observations, including the position, quaternion, linear velocity and angular velocity of the Tool Center Point (TCP), 6 joint angles, gripper state, and force and torque data. The action data is 6-dimensional, including position changes (delta_x, delta_y, delta_z) and rotation changes (axis_angle_x, axis_angle_y, axis_angle_z). Additionally, it also includes metadata such as timestamps, frame indices, episode indices and task indices. This dataset only contains a training split and is intended for robotic learning tasks.