franka_factr_teleop
收藏资源简介：
该数据集名为franka_factr_teleop，是LeRobot项目的一部分，通过FACTR力反馈遥操作系统（使用Franka跟随器机器人）收集。数据集包含50个episodes，总计17317帧，帧率为每秒30帧。任务目标是拾取立方体并将其放入红色碗中。观测数据包括7个关节位置、7个关节速度、夹爪宽度，以及来自手腕和外部RGB摄像头的图像（分辨率为640x480）。动作数据包括7个指令关节和夹爪控制。数据集使用LeRobot工具创建，适用于机器人学习和控制研究。
The dataset is named franka_factr_teleop, which is part of the LeRobot project. It was collected via the FACTR force-feedback teleoperation system (utilizing a Franka follower robot). The dataset contains 50 episodes, totaling 17,317 frames with a frame rate of 30 frames per second. The task objective is to pick up a cube and place it into a red bowl. Observation data includes 7 joint positions, 7 joint velocities, gripper width, as well as images from the wrist and external RGB cameras with a resolution of 640×480. The action data includes 7 commanded joint controls and gripper control. Developed using the LeRobot toolkit, this dataset is suitable for robot learning and control research.
- 数据集名称: franka_factr_teleop
- 许可证: Apache-2.0
- 任务类别: 机器人学 (Robotics)
- 标签: LeRobot, Franka, 遥操作 (Teleoperation)
- 描述: 通过FACTR力反馈遥操作（Franka从手）收集的LeRobot数据集。
- 数据规模:
- 片段 (Episodes): 50
- 帧数 (Frames): 17,317帧，帧率30 fps
- 任务: "拿起立方体并将其放入红色碗中" (pick up the cube and place it into the red bowl)
- 观测数据 (Observations):
- 7个关节位置 + 7个速度 + 夹爪宽度
- 腕部与外部RGB摄像头（分辨率640x480）
- 动作数据 (Actions): 7个指令关节 + 夹爪
- 创建工具: 使用 LeRobot 创建
