KS325/open-upper-drawer-r2-emp-train-spare

该数据集是使用LeRobot创建的机器人学数据集，专注于上层抽屉打开任务。数据集包含14个episodes，总计10013帧，数据以parquet格式存储，并附带视频文件。特征包括动作（6个关节位置：shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos）、观察状态（同样为6个关节位置）、来自两个摄像头（camera1和camera2）的图像观察（分辨率480x640，3通道，30fps），以及时间戳、帧索引、episode索引等元数据。数据集适用于机器人控制和学习任务，特别是基于视觉和状态信息的模仿学习或强化学习。

This dataset is a robotics dataset created using LeRobot, focusing on the task of opening an upper drawer. It includes 14 episodes with a total of 10013 frames, stored in parquet format along with video files. Features consist of actions (6 joint positions: shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos), observation states (same 6 joint positions), image observations from two cameras (camera1 and camera2, with resolution 480x640, 3 channels, 30fps), and metadata such as timestamp, frame index, episode index, etc. The dataset is suitable for robotics control and learning tasks, particularly for imitation learning or reinforcement learning based on visual and state information.