2026-07-06_shakeitup_diff_duration_v3_20260706_140628

这是一个机器人学数据集，使用LeRobot工具创建。数据集包含6轴机械臂的关节位置控制数据，具体包括动作指令（action）和状态观测（observation.state），两者都包含肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置这6个关节的位置信息。观测数据还包括多种视觉输入：顶部摄像头图像（480x640分辨率）、腕部摄像头图像（480x640分辨率），以及多种配置的触觉频谱图图像（224x224分辨率，包括100kHz和10kHz采样频率下不同FFT大小的频谱图）。数据集总共包含6个训练片段（episodes），3475帧数据，帧率为30fps。数据以parquet格式存储，总数据大小约300MB（数据文件100MB，视频文件200MB）。机器人类型为so101_follower_dragon_multiduration。This is a robotics dataset created using the LeRobot tool. The dataset contains joint position control data for a 6-axis robotic arm, specifically including action commands and state observations (observation.state), both of which include position information for six joints: shoulder translation, shoulder lift, elbow bend, wrist bend, wrist rotation, and gripper position. Observation data also includes multiple visual inputs: top camera images (480x640 resolution), wrist camera images (480x640 resolution), and various configurations of tactile spectrogram images (224x224 resolution, including spectrograms with different FFT sizes at 100kHz and 10kHz sampling frequencies). The dataset contains a total of 6 training episodes, 3475 frames of data, with a frame rate of 30fps. Data is stored in parquet format, with a total data size of approximately 300MB (100MB for data files and 200MB for video files). The robot type is so101_follower_dragon_multiduration.