Imperial Wrist Cam

我们使用带有 Robotiq 2F-85 夹具的 Sawyer 机器人。我们使用安装在手腕上的 RealSense D435 摄像头。特别是，如果我们考虑一个 x 轴指向“前方”或机器人前方，一个 y 轴指向左侧，一个 z 轴指向上方，遵循右手约定，并且该参考系具有以末端执行器尖端上的原点为起点，相机安装在（7cm、0cm、18cm）处，即末端执行器尖端“向上”18cm、“向前”7cm。相机与 z 轴平行，直视下方。We used the Sawyer robot equipped with a Robotiq 2F-85 gripper. A RealSense D435 camera mounted on the wrist was utilized. Specifically, the right-hand coordinate convention was adopted, where the x-axis points "forward" (towards the front of the robot), the y-axis points leftward, and the z-axis points upward. The origin of this reference frame is located at the tip of the end effector, and the camera is installed at the coordinate (7 cm, 0 cm, 18 cm), meaning it is 18 cm "upward" and 7 cm "forward" relative to the end effector tip. The camera is aligned parallel to the z-axis and faces directly downward.

搜集汇总

背景与挑战

背景概述

该数据集专注于机器人学习领域，使用Sawyer机器人搭配手腕安装的RealSense D435摄像头进行数据采集，摄像头位置在末端执行器尖端前方7cm、上方18cm处，指向下方。数据集发布于2023年，提供GitHub和论文链接，支持机器人视觉和操作相关研究，大小为163.8MB，包含529个文件。