franka_one_cube_20260717_140848
收藏资源简介：
该数据集是一个机器人学数据集，使用LeRobot工具创建，专注于Franka Panda机器人的操作任务。数据集包含5个episodes，总计1979帧，帧率为14fps。特征包括动作（如关节位置、速度、末端执行器位置和姿态）、观测状态（与动作类似）、观测图像（手腕摄像头图像和深度图像，分辨率为480x640，3通道），以及时间戳、帧索引、episode索引等元数据。数据以parquet文件格式存储，视频以mp4格式存储，总数据大小为100MB，视频大小为200MB。数据集适用于机器人控制、视觉导航等任务。
This is a robotics dataset created using the LeRobot toolkit, focusing on manipulation tasks of the Franka Panda robot. The dataset contains 5 episodes, totaling 1979 frames with a frame rate of 14 fps. Its features include action data (such as joint positions, joint velocities, end-effector positions and poses), observation states (with a structure consistent with that of the action data), observation images (wrist camera RGB images with a resolution of 480×640 and 3 channels, and depth images), as well as metadata including timestamps, frame indices, and episode indices. The dataset data is stored in Parquet file format, while the videos are stored in MP4 format. The total size of the tabular data is 100 MB, and the video files take up 200 MB. This dataset is suitable for tasks such as robot control and visual navigation.
数据集概述
- 名称: franka_one_cube_20260717_140848
- 许可证: Apache-2.0
- 任务类别: 机器人学 (robotics)
- 标签: LeRobot
- 创建工具: LeRobot
数据集结构
- 代码库版本: v3.0
- 帧率 (FPS): 14
- 总集数 (Episodes): 5
- 总帧数 (Frames): 1979
- 总任务数: 1
- 数据块大小 (Chunks): 1000
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 机器人类型: franka_panda_kinesthetic
- 数据划分:
- 训练集: 全部5个episodes (索引0-4)
特征说明
| 特征名称 | 数据类型 | 形状 | 说明 |
|---|---|---|---|
| action | float32 | [29] | 包含7个关节位置、7个关节速度、2个手指位置、7个末端执行器位姿 (x, y, z, qx, qy, qz, qw) 和6个末端执行器速度 (vx, vy, vz, vwx, vwy, vwz) |
| observation.state | float32 | [29] | 与action特征相同的29维状态向量 |
| observation.images.wrist | video | [480, 640, 3] | 腕部RGB相机图像，AV1编码，分辨率480x640 |
| observation.images.wrist_depth | video | [480, 640, 3] | 腕部深度图像（非深度图标志为false），AV1编码，分辨率480x640 |
| timestamp | float32 | [1] | 时间戳 |
| frame_index | int64 | [1] | 帧索引 |
| episode_index | int64 | [1] | 集数索引 |
| index | int64 | [1] | 数据索引 |
| task_index | int64 | [1] | 任务索引 |
数据存储路径
- 数据文件:
data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet - 视频文件:
videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
