0512_setting_2nd_1

该数据集是使用LeRobot工具创建的机器人演示数据集，专门用于双臂机器人（机器人类型为bi_so_follower）的学习任务。数据集包含20个完整的情节（episodes），总计27,519帧，对应1个任务。数据以30fps的帧率采集，包括机器人的动作（12维关节位置，控制左右肩、肘、腕和抓手的运动）、状态观测（同样12维关节位置），以及来自三个摄像头的图像观测：左腕摄像头、右腕摄像头和右顶部摄像头，每个摄像头提供480x640分辨率的RGB视频流。数据集以parquet格式存储动作和状态数据，视频以mp4格式存储，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、模仿学习或强化学习等研究。

This dataset is a robot demonstration dataset created using the LeRobot tool, specifically designed for learning tasks with a dual-arm robot (robot type bi_so_follower). It contains 20 complete episodes, totaling 27,519 frames, corresponding to 1 task. Data is captured at 30fps, including robot actions (12-dimensional joint positions controlling movements of left/right shoulders, elbows, wrists, and grippers), state observations (similarly 12-dimensional joint positions), and image observations from three cameras: left wrist camera, right wrist camera, and right top camera, each providing 480x640 resolution RGB video streams. The dataset stores action and state data in parquet format, videos in mp4 format, with a total data file size of 100MB and video file size of 200MB. It is suitable for research in robot control, imitation learning, or reinforcement learning.