edmos7/so100_orange_50ep_2cam_2-trajectory

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so100型机器人。数据集包含50个完整的情节（episodes），总计14965帧数据，以30帧每秒（fps）的速率采集。数据以parquet文件格式存储，总数据文件大小为100MB，视频文件大小为200MB。数据集的特征包括：6维动作向量（对应机器人的六个关节：主肩平移、主肩提升、主肘弯曲、主腕弯曲、主腕滚动、主夹爪）、6维状态观测向量（与动作向量相同）、时间戳、帧索引、情节索引、任务索引等。此外，数据集提供了两个摄像头的视频观测：MAIN_CAM和SEC_CAM，分辨率均为480x640像素，3通道彩色视频，以及轨迹图像观测（observation.images.trajectory），分辨率同样为480x640像素。数据集仅包含训练集，涵盖一个任务，适用于机器人学习和控制研究。

This dataset is a robotic manipulation dataset created using the LeRobot platform, specifically for the so100 robot type. It contains 50 complete episodes, totaling 14965 frames, collected at a rate of 30 frames per second (fps). The data is stored in parquet format, with a total data file size of 100MB and video file size of 200MB. The dataset features include: a 6-dimensional action vector (corresponding to the robots six joints: main_shoulder_pan, main_shoulder_lift, main_elbow_flex, main_wrist_flex, main_wrist_roll, main_gripper), a 6-dimensional state observation vector (same as the action vector), timestamp, frame index, episode index, task index, and more. Additionally, the dataset provides video observations from two cameras: MAIN_CAM and SEC_CAM, both with a resolution of 480x640 pixels and 3-channel color video, as well as trajectory image observations (observation.images.trajectory) with the same resolution of 480x640 pixels. The dataset only includes a training set, covering one task, and is suitable for robotic learning and control research.