KS325/close-lower-drawer-r2-occ-val

这是一个由LeRobot创建的机器人控制数据集，专注于关闭下层抽屉任务。数据集包含4个episode，总计2998帧，帧率为30fps。数据特征包括：6维关节位置动作（肩部平移、肩部升降、肘部弯曲、腕部弯曲、腕部旋转、夹爪位置），6维关节位置观测状态，两个摄像头（camera1和camera2）的图像观测（480x640分辨率，RGB视频），以及时间戳、帧索引、episode索引等元数据。数据以Parquet格式存储，视频以MP4格式存储，适用于机器人学习和模仿学习任务。

This is a robotics control dataset created by LeRobot, focusing on the task of closing a lower drawer. The dataset contains 4 episodes with a total of 2998 frames at 30 fps. Features include: 6-dimensional joint position actions (shoulder pan, shoulder lift, elbow flex, wrist flex, wrist roll, gripper position), 6-dimensional joint position observation states, image observations from two cameras (camera1 and camera2) with 480x640 resolution RGB video, and metadata such as timestamp, frame index, and episode index. Data is stored in Parquet format and videos in MP4 format, suitable for robotics learning and imitation learning tasks.