kurah/newah-s2-soft

该数据集是一个机器人学数据集，使用LeRobot框架创建，专门用于newah机械臂的软控制任务。数据集包含50个episodes，总计10596帧，以30fps录制。数据特征包括：机械臂的5个关节角度（肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部旋转）作为观察状态和动作；两个摄像头视角（工作区和手腕）的RGB视频，分辨率为480x640；二维目标位置坐标（target_x, target_y）；以及时间戳、帧索引、episode索引等元数据。数据格式为parquet和mp4，用于训练和评估机器人控制模型，支持强化学习或模仿学习任务。This dataset is a robotics dataset created using the LeRobot framework, specifically for soft control tasks with a newah robotic arm. It contains 50 episodes with a total of 10,596 frames recorded at 30 fps. Features include: 5 joint angles (shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll) as observation states and actions; RGB video from two camera perspectives (workspace and wrist) with 480x640 resolution; 2D target position coordinates (target_x, target_y); and metadata such as timestamps, frame indices, and episode indices. Data is stored in parquet and mp4 formats, intended for training and evaluating robot control models, supporting reinforcement learning or imitation learning tasks.