taccap-g1-adjust-projector-stand-0724

该数据集由LeRobot工具创建，专为机器人学领域设计，特别针对双TacCap夹爪机器人（bi_taccap_gripper）。数据集包含65个完整任务序列（episodes），总计440,857帧数据，帧率为30fps。数据特征包括：动作数据（action），涵盖左右夹爪的工具中心点（TCP）的6维位姿（x, y, z, r1-r6）和夹爪位置；观测数据（observation），包括机器人状态（与动作相同的TCP和夹爪位置）以及多视角图像——左右手腕摄像头图像（分辨率480x640）和左右触觉传感器图像（分辨率400x700），所有图像为彩色（3通道）。数据集以parquet格式存储数据文件，视频以mp4格式存储，总数据量约100MB，视频文件约200MB。数据集仅提供训练集（splits: train），适用于机器人控制、感知和强化学习任务。This dataset is created by the LeRobot tool and is specifically designed for the field of robotics, focusing on the bi_taccap_gripper (dual TacCap gripper) robot. It contains 65 complete task episodes, totaling 440,857 frames with a frame rate of 30fps. The data features include: action data, covering the 6-dimensional pose (x, y, z, r1-r6) of the tool center point (TCP) for both left and right grippers, as well as gripper positions; observation data, including robot state (same TCP and gripper positions as actions) and multi-view images—left and right wrist camera images (resolution 480x640) and left and right tactile sensor images (resolution 400x700), all in color (3 channels). The dataset stores data files in parquet format and videos in mp4 format, with a total data size of approximately 100MB and video files of about 200MB. It only provides a training set (splits: train) and is suitable for robot control, perception, and reinforcement learning tasks.