data_0524_v2

该数据集是使用LeRobot创建的双机械臂操作任务数据集，包含102个完整情节，总计95905帧，涵盖3个不同任务。数据以parquet格式存储，总数据文件大小约100MB，视频文件大小约200MB。特征包括12维动作向量和状态观察向量，分别对应左右机械臂的12个关节位置（如肩部平移、肩部抬升、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置），以及来自三个摄像头的图像观察：左前摄像头（分辨率480x640）、右前摄像头（分辨率480x640）和右顶摄像头（分辨率360x640），所有视频均为彩色（3通道），帧率30fps，使用AV1编解码器。元数据包括时间戳、帧索引、情节索引、全局索引和任务索引。数据集仅包含训练集，所有数据用于训练，机器人类型为bi_so_follower，表示双机械臂跟随系统。This dataset is a robotics dataset created using LeRobot, focusing on dual-arm manipulation tasks. It contains 102 complete episodes, totaling 95,905 frames, and covers 3 different tasks. The data is stored in parquet format, with the total data file size approximately 100MB and video file size about 200MB. Features include 12-dimensional action vectors and state observation vectors, corresponding to the 12 joint positions of the left and right robotic arms (e.g., shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper position), as well as image observations from three cameras: left front camera (resolution 480x640), right front camera (resolution 480x640), and right top camera (resolution 360x640). All videos are color (3 channels) with a frame rate of 30fps and use the AV1 codec. Metadata includes timestamps, frame index, episode index, global index, and task index. The dataset only includes a training set, with all data used for training, and the robot type is bi_so_follower, indicating a dual-arm following system.