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该数据集是一个机器人学数据集，使用LeRobot创建。数据集包含97个完整的情节（episodes），总计42083帧，涉及单臂Franka机器人。数据以20帧每秒（fps）的速率采集，总数据文件大小为100MB，视频文件大小为200MB。数据集结构包括动作（action）、观察状态（observation.state）以及来自三个摄像头（cam_3_wrist、cam_4_wrist、cam_6_scene）的图像观察，每个图像分辨率为224x224像素、3通道。动作特征包括10个浮点数，代表机器人位置、姿态、夹爪状态以及控制参数（kp、kd）。观察状态特征包括8个浮点数，表示机器人的关节角度和夹爪状态。数据集还包含时间戳、帧索引、情节索引、索引和任务索引等元数据。所有数据以Parquet格式存储，适用于机器人控制、强化学习、计算机视觉等研究任务。This dataset is a robotics dataset created using LeRobot. It contains 97 complete episodes, totaling 42,083 frames, involving a single-arm Franka robot. Data is collected at a rate of 20 frames per second (fps), with a total data file size of 100MB and a video file size of 200MB. The dataset structure includes actions (action), observation states (observation.state), and image observations from three cameras (cam_3_wrist, cam_4_wrist, cam_6_scene), each with a resolution of 224x224 pixels and 3 channels. Action features consist of 10 floating-point numbers representing robot position, posture, gripper state, and control parameters (kp, kd). Observation state features include 8 floating-point numbers indicating the robots joint angles and gripper state. The dataset also contains metadata such as timestamps, frame indices, episode indices, indices, and task indices. All data is stored in Parquet format and is suitable for research tasks in robot control, reinforcement learning, and computer vision.