edmos7/so101_60-trajectory

该数据集是一个机器人学数据集，使用LeRobot工具创建，专注于so101型机器人。数据集包含60个episodes，总计27418帧，帧率为30fps，数据以parquet文件和视频文件形式存储。特征包括机器人的动作（6个自由度：主肩部平移、主肩部提升、主肘部弯曲、主腕部弯曲、主腕部滚动、主夹持器）和观测状态（同样6个自由度），以及时间戳、帧索引、episode索引、任务索引等元数据。观测数据还包括来自MAIN_CAM和SEC_CAM的视频流（分辨率480x640，3通道，AV1编码，无音频）和轨迹图像。数据集用于机器人控制任务，支持训练和评估，许可证为Apache-2.0。

This dataset is a robotics dataset created using the LeRobot tool, focusing on the so101 robot type. It contains 60 episodes with a total of 27,418 frames at 30 fps, stored in parquet and video file formats. Features include robot actions (6 degrees of freedom: main shoulder pan, main shoulder lift, main elbow flex, main wrist flex, main wrist roll, main gripper) and observation states (same 6 degrees of freedom), along with metadata such as timestamp, frame index, episode index, and task index. Observations also include video streams from MAIN_CAM and SEC_CAM (resolution 480x640, 3 channels, AV1 codec, no audio) and trajectory images. The dataset is intended for robot control tasks, supporting training and evaluation, and is licensed under Apache-2.0.