Datasets:
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index int64 0 59.2k | timestamp float64 0 29.4 | episode_index int64 0 159 | frame_index int64 0 587 | task_index int64 0 0 | observation_motion_positions listlengths 60 60 | observation_motion_quaternions listlengths 80 80 | tactile_tactile_0 listlengths 160 160 | tactile_tactile_1 listlengths 32 32 | tactile_tactile_2 listlengths 90 90 | tactile_tactile_3 listlengths 72 72 | tactile_tactile_4 listlengths 24 24 | tactile_tactile_5 listlengths 32 32 | tactile_tactile_6 listlengths 12 12 | tactile_tactile_7 listlengths 72 72 | tactile_tactile_8 listlengths 24 24 | tactile_tactile_9 listlengths 32 32 | tactile_tactile_10 listlengths 12 12 | tactile_tactile_11 listlengths 72 72 | tactile_tactile_12 listlengths 24 24 | tactile_tactile_13 listlengths 32 32 | tactile_tactile_14 listlengths 12 12 | tactile_tactile_15 listlengths 72 72 | tactile_tactile_16 listlengths 24 24 | tactile_tactile_17 listlengths 32 32 | tactile_tactile_18 listlengths 12 12 | tactile_tactile_19 listlengths 90 90 | action listlengths 140 140 |
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Fixed Viewpoint Tactile Dataset
基于固定机位动捕设备的动捕-触觉数据集。
- 格式：LeRobot v3.0
- fps: 20
- episodes: 160，frames: 59158
- 观测：动捕位置/四元数、20 路触觉、RGB + Depth 视频
- 机器人类型：tactile_hand_motion_321_340
安装依赖
pip install -r requirements.txt # 需要 Python >= 3.10
快速开始
from lerobot.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("Tachintech/Fixed_Viewpoint_Tactile_Dataset") # 自动下载
s = ds[100] # 一帧 = dict
s["action"] # [140]
s["observation_motion_positions"] # [60] (20点×3)
s["observation_motion_quaternions"] # [80] (20点×4)
s["tactile_tactile_0"] # [160] (共 tactile_0~19)
s["observation.images.color"] # [3,480,848] ← mp4 自动解码
s["observation.images.depth"] # [3,480,848]
字段说明（30 个键）
| 键 | 维度 | 含义 |
|---|---|---|
index / episode_index / frame_index / task_index |
1 | 索引 |
timestamp |
1 | 帧时间(秒) |
observation_motion_positions |
60 | 动捕位置(20点×3) |
observation_motion_quaternions |
80 | 动捕姿态(20点×4) |
tactile_tactile_0 … _19 |
各异 | 20 路触觉(展平，2D 形状见 info.json 的 tactile_2d_shapes) |
action |
140 | = 当前帧动捕(位置60 ⊕ 四元数80) |
observation.images.color / .depth |
480×848×3 | RGB / 深度视频 |
配套脚本
example_usage.py— 加载/遍历/训练示例：python example_usage.py（或--root <本地路径>不下载）visualize_dataset.py— 网页可视化（动捕骨架 + 触觉 + 视频）：python visualize_dataset.py -d <数据集路径>，浏览器开 http://localhost:7777
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