pickplace_20_trajectory

该数据集是一个机器人学习数据集，使用LeRobot工具创建，专注于机器人操作任务中的拾放（pickplace）场景。它包含20个完整的轨迹（episodes），总计9012帧数据，采样频率为30帧每秒。数据格式包括机器人动作（如肩部平移、肩部提升、肘部弯曲、手腕弯曲、手腕旋转和夹爪位置）、观察状态（与动作相同的关节位置）、观察图像（侧面和手腕视角的RGB视频，分辨率为480x640）以及轨迹图像。数据以parquet文件存储，总数据文件大小为100MB，视频文件大小为200MB。该数据集适用于机器人控制、模仿学习等研究领域。

This dataset is a robot learning dataset created using the LeRobot tool, focusing on robot manipulation tasks, specifically pick-and-place scenarios. It contains 20 complete episodes, totaling 9012 frames with a sampling frequency of 30 frames per second. The data format includes robot actions (such as shoulder translation, shoulder lift, elbow bend, wrist bend, wrist rotation, and gripper position), observation states (joint positions identical to actions), observation images (RGB videos from side and wrist perspectives with a resolution of 480x640), and trajectory images. The data is stored in parquet files, with a total data file size of 100MB and a video file size of 200MB. The dataset is suitable for research areas such as robot control and imitation learning.