edmos7/so100_battery-trajectory

该数据集是使用LeRobot创建的机器人轨迹数据集，专门针对SO100机器人设计。数据集包含50个完整的情节（episodes），总计24263帧数据，帧率为30fps。数据以Parquet格式存储，总数据文件大小为100MB，视频文件大小为200MB。数据集包含多种特征：动作数据（6维浮点数组，控制机器人的肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部滚动和夹持器状态）、观测状态（6维浮点数组，与动作相同的维度）、时间戳、帧索引、情节索引、任务索引等。此外，数据集还提供来自主摄像头（MAIN_CAM）和副摄像头（SEC_CAM）的视频观测（分辨率480x640，3通道，30fps），以及轨迹图像观测（分辨率480x640，3通道）。所有数据仅包含训练集划分（0:50）。This dataset is a robotics trajectory dataset created using LeRobot, specifically designed for the SO100 robot. It contains 50 complete episodes with a total of 24,263 frames at 30 fps. The data is stored in Parquet format, with a total data file size of 100 MB and video file size of 200 MB. The dataset includes various features: action data (6-dimensional float32 array controlling main_shoulder_pan, main_shoulder_lift, main_elbow_flex, main_wrist_flex, main_wrist_roll, and main_gripper), observation states (6-dimensional float32 array with the same dimensions as actions), timestamps, frame indices, episode indices, task indices, etc. Additionally, the dataset provides video observations from the main camera (MAIN_CAM) and secondary camera (SEC_CAM) (resolution 480x640, 3 channels, 30 fps), as well as trajectory image observations (resolution 480x640, 3 channels). All data is only available as a training set split (0:50).