edmos7/so101_bio_final-trajectory

该数据集由LeRobot创建，包含so101型机器人的操作任务数据。数据集包含50个完整episodes，总计22326帧，帧率为30fps。数据特征包括：动作（6维浮点数组，对应机器人关节角度：主肩平移、主肩提升、主肘弯曲、主腕弯曲、主腕旋转和主夹爪）、观测状态（6维浮点数组，与动作结构相同）、时间戳、帧索引、episode索引、任务索引，以及来自MAIN_CAM和SEC_CAM的视频观测（分辨率480x640，3通道，30fps，编码为av1）和轨迹图像（480x640分辨率，3通道）。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。数据集用于机器人学习任务，如模仿学习或强化学习。

This dataset was created using LeRobot and contains data for robotic manipulation tasks with the so101 robot type. It includes 50 episodes, totaling 22326 frames at 30fps. Features include: action (6-dimensional float32 array for robot joint angles: main_shoulder_pan, main_shoulder_lift, main_elbow_flex, main_wrist_flex, main_wrist_roll, main_gripper), observation.state (6-dimensional float32 array with same structure), timestamp, frame_index, episode_index, task_index, observation.images.MAIN_CAM and observation.images.SEC_CAM video observations (480x640 resolution, 3 channels, 30fps, av1 codec), and observation.images.trajectory image (480x640 resolution, 3 channels). Data is stored in parquet files, with videos in mp4 format; total data file size is 100MB and video file size is 200MB. The dataset is intended for robotics learning tasks such as imitation learning or reinforcement learning.