so-101-end-effector

该数据集由LeRobot创建，主要用于机器人领域。数据集包含50个episodes，共35838帧，帧率为30fps。数据文件大小为100MB，视频文件大小为200MB。数据集包含机器人动作、观察状态、顶部和腕部图像等特征。动作和观察状态均为6维浮点数组，分别对应机器人的肩部、肘部、腕部和夹持器的位置。图像特征为480x640x3的视频格式。数据集是从`TechieMoon/so-101-1`转换而来，转换了观察状态和动作为末端执行器姿态，原始关节空间数据被保留为`observation.state_joint`和`action_joint`。末端执行器姿态格式为rpy，即[x, y, z, roll, pitch, yaw, gripper]。This dataset was developed by LeRobot, specifically for robotics research. It contains 50 episodes, totaling 35,838 frames at a frame rate of 30 fps. The data files have a total size of 100 MB, while the video files occupy 200 MB. The dataset includes features such as robot actions, observation states, top-mounted and wrist-mounted images, etc. Both actions and observation states are 6-dimensional floating-point arrays, corresponding to the positions of the robot's shoulder, elbow, wrist, and gripper. The image features are in the 480×640×3 video format. This dataset is converted from the source `TechieMoon/so-101-1`, where the observation states and actions are transformed into end-effector poses, and the original joint-space data is preserved as `observation.state_joint` and `action_joint`. The end-effector pose follows the RPY format, specifically structured as [x, y, z, roll, pitch, yaw, gripper].