cell1_20260520_laundry_folding_20260520_132831

该数据集是使用LeRobot平台创建的机器人操作数据集，专门针对折叠衣物任务。数据集包含双机械臂（starpilot_yam_gripper机器人）的操作数据，涵盖两个完整操作序列（episode），总计1816帧图像，采集频率为30fps。数据特征包括：14维动作数据（控制两个机械臂的末端执行器位置、旋转和夹爪宽度）、32维观测状态数据（编码器角度、IMU测量值、末端位姿和夹爪状态），以及来自多个视角的视觉数据——包括左右腕部摄像头和基座摄像头的RGB图像和深度图像（分辨率分别为480x640和768x1024）。数据集以Apache 2.0许可证发布，适用于机器人学习任务。This dataset is a robotic manipulation dataset created using the LeRobot platform, specifically for the task of folding clothes. It contains operational data from a dual-arm robot (starpilot_yam_gripper), covering two complete episodes with a total of 1816 image frames captured at 30fps. The data features include: 14-dimensional action data (controlling the end-effector positions, rotations, and gripper widths of both arms), 32-dimensional observation state data (encoder angles, IMU measurements, end-effector poses, and gripper states), and visual data from multiple perspectives—including RGB and depth images from left and right wrist cameras and a base camera (with resolutions of 480x640 and 768x1024, respectively). The dataset is released under the Apache 2.0 license and is suitable for robotic learning tasks.