AlexanderRoempke/ttz-screw-task-merged

该数据集由LeRobot创建，专注于机器人技术任务，具体为ttz-screw-task-merged（螺丝拧紧任务）。它包含156个完整的情节（episodes），总计29536帧数据，使用ned2机器人类型。数据集结构包括动作数据（7维浮点数组，表示机器人关节位置如基座到手臂、手臂到肘部等）、观察状态（同样7维浮点数组）、来自腕部摄像头（分辨率480x848）和外部摄像头（分辨率720x1280）的视频观察，视频帧率为21fps。此外，还包含时间戳、帧索引、情节索引等元数据。数据以parquet文件格式存储，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。数据集适用于机器人控制、模仿学习或强化学习任务。

This dataset was created using LeRobot and focuses on robotics tasks, specifically the ttz-screw-task-merged (screw tightening task). It contains 156 total episodes with 29536 frames, using the ned2 robot type. The dataset structure includes action data (7-dimensional float32 arrays representing robot joint positions such as base_to_arm.pos, arm_to_elbow.pos, etc.), observation state (similarly 7-dimensional float32 arrays), video observations from a wrist camera (resolution 480x848) and an external camera (resolution 720x1280) at 21fps, along with metadata like timestamp, frame index, episode index, and more. Data is stored in parquet files, videos in mp4 format, with total data file size of 100MB and video file size of 200MB. The dataset is suitable for robotics control, imitation learning, or reinforcement learning tasks.