UR5_RTDE_SpaceMouse_EE_pick_and_place_object_Easy_ALL

这是一个机器人操作数据集，由LeRobot工具创建，专门用于UR5 RTDE机器人执行拾放任务（具体任务为UR5_RTDE_SpaceMouse_EE_pick_and_place_object_Easy_ALL）。数据集包含82个训练片段，总计20697帧，帧率为15fps。数据特征包括：动作数据（以7维浮点数组表示末端执行器位姿的增量变化和夹爪命令）、状态观测数据（以14维浮点数组表示，包括关节位置、末端执行器位姿、夹爪状态和命令）、以及两个摄像头的图像观测数据（提供分辨率为480x640的RGB视频，编码为h264，格式为yuv420p）。此外，数据集还包含时间戳、帧索引、片段索引、任务索引等元数据。数据以Parquet文件存储，视频以MP4文件存储，总数据大小约100MB，视频大小约200MB。该数据集适用于机器人学习研究，特别适合用于模仿学习或强化学习任务。

This is a robot manipulation dataset created by the LeRobot tool for the UR5 RTDE robot performing pick-and-place tasks (specifically UR5_RTDE_SpaceMouse_EE_pick_and_place_object_Easy_ALL). The dataset includes 82 training episodes, totaling 20,697 frames at a frame rate of 15fps. Data features include: actions (a 7-dimensional float array representing incremental changes in end-effector pose and gripper commands), state observations (a 14-dimensional float array including joint positions, end-effector pose, gripper status, and commands), image observations from two cameras (RGB videos with a resolution of 480x640, encoded as h264 in yuv420p format), and metadata such as timestamps, frame indices, episode indices, and task indices. The data is stored in Parquet files, with videos in MP4 format; the total data size is approximately 100MB, and the video size is about 200MB. The dataset is suitable for robotics learning research, particularly for imitation learning or reinforcement learning tasks.