cell1_20260520_laundry_folding_20260520_124931

这是一个机器人学数据集，使用LeRobot创建，专注于双机械臂（starpilot_yam_gripper机器人类型）执行洗衣折叠任务。数据集包含2个完整的情节（episodes），总计1112帧，覆盖1个任务。数据以parquet文件格式存储，视频以mp4格式存储，帧率为30fps。特征包括：动作数据（14维浮点数，表示两个机械臂的x、y、z位置、rx、ry、rz旋转和抓取宽度）；观察状态数据（32维浮点数，包括编码器角度、IMU加速度和陀螺仪数据、姿态四元数以及抓取器状态）；多个摄像头图像数据，包括左腕、右腕和基座摄像头的RGB图像和深度图（分辨率分别为480x640和768x1024）；以及时间戳、帧索引、情节索引等元数据。数据集主要用于机器人控制、计算机视觉和机器学习研究。

This is a robotics dataset created using LeRobot, focusing on dual-arm manipulation (starpilot_yam_gripper robot type) for laundry folding tasks. The dataset contains 2 complete episodes, totaling 1112 frames, covering 1 task. Data is stored in parquet file format, with videos in mp4 format at 30fps. Features include: action data (14-dimensional floats, representing x, y, z position, rx, ry, rz rotation, and gripper width for both arms); observation state data (32-dimensional floats, including encoder angles, IMU acceleration and gyroscope data, pose quaternions, and gripper states); multiple camera image data, including RGB images and depth maps from left wrist, right wrist, and base cameras (with resolutions of 480x640 and 768x1024); and metadata such as timestamps, frame indices, and episode indices. The dataset is primarily used for robotics control, computer vision, and machine learning research.