isaac_piper_cube_pick_place_1000

该数据集是一个机器人拾取放置任务数据集，使用LeRobot和Isaac Sim仿真环境生成，专注于AgileX Piper机器人。数据集包含1000个episodes，总计268,180帧数据，帧率为30 fps。数据以Parquet文件格式存储，总数据文件大小为100 MB，视频文件大小为200 MB。数据集提供了多模态观察信息，包括来自顶部和手腕摄像头的RGB视频（分辨率720x1280，3通道）和深度图像（分辨率720x1280），以及机器人状态（如7个关节的电机角度）和末端执行器状态（如位置和姿态）。动作数据包括电机控制和末端执行器命令。数据集适用于机器人控制、强化学习和计算机视觉任务，如物体抓取和放置。

This dataset is a robotic pick-and-place task dataset generated using the LeRobot and Isaac Sim simulation environments, focusing on the AgileX Piper robot. It contains 1000 episodes, totaling 268,180 frames with a frame rate of 30 fps. The data is stored in Parquet file format, with a total data file size of 100 MB and a video file size of 200 MB. The dataset provides multimodal observation information, including RGB videos (720×1280 resolution, 3 channels) and depth images (720×1280 resolution) from both the top and wrist cameras, as well as robot states such as motor angles of 7 joints and end-effector states including position and pose. The action data includes motor control commands and end-effector commands. This dataset is suitable for robotic control, reinforcement learning, and computer vision tasks such as object grasping and pick-and-place.