taccap-g1-prepare-whiteboard-marker-0724

该数据集是一个用于机器人技术研究的触觉操作数据集，由LeRobot创建。它专注于双机械臂（bi_taccap_gripper）执行准备白板笔的任务。数据集包含50个完整的情节（episodes），总计329,480帧，以30帧/秒的速率采集。数据以parquet和mp4格式存储，包括动作数据（如左右机械臂的末端执行器位置、姿态和夹爪位置）、观测状态（与动作类似的结构）、以及来自多个触觉传感器（左右触觉左右）和手腕摄像头（左右手腕）的视频观测。视频分辨率为400x700（触觉）和480x640（手腕），编码为h264。数据集适用于机器人学习、触觉感知和操作任务的研究。This dataset is a tactile manipulation dataset for robotics research, created by LeRobot. It focuses on the task of preparing a whiteboard pen using a dual robotic arm (bi_taccap_gripper). The dataset contains 50 complete episodes, totaling 329,480 frames, collected at a rate of 30 frames per second. Data is stored in parquet and mp4 formats, including action data (such as end-effector positions, orientations, and gripper positions for the left and right arms), observation states (with a structure similar to actions), and video observations from multiple tactile sensors (left and right tactile) and wrist cameras (left and right wrists). Video resolutions are 400x700 (tactile) and 480x640 (wrist), encoded in h264. The dataset is suitable for research in robot learning, tactile perception, and manipulation tasks.