team-sobits/sobit_home-pickup_the_block-gazebo

该数据集是一个用于机器人学任务的数据集，由LeRobot创建，专门针对移动操作机器人（mobile_imulator）在Gazebo模拟环境中执行“拾取积木”（pickup the block）任务。数据集包含202个episodes和19404个frames，以每秒6帧的速率采集。数据特征包括32维的动作向量（涵盖头部、身体、左右手臂、左右手部关节以及移动基座的控制）、观察状态（如关节状态、末端执行器位姿）、以及来自三个摄像头的图像数据（头部摄像头：480x640分辨率，左右手摄像头：1200x1920分辨率）。数据集采用Apache 2.0许可证，并以Parquet格式存储，总数据文件大小为100MB，视频文件大小为200MB。所有数据仅用于训练集。This dataset is a robotics dataset created using LeRobot, specifically designed for a mobile manipulator robot performing the pickup the block task in a Gazebo simulation environment. It includes 202 episodes and 19404 frames, collected at a rate of 6 frames per second. The features encompass a 32-dimensional action vector (covering head, body, left and right arm joints, left and right hand joints, and mobile base control), observation states (such as joint states and end-effector poses), and image data from three cameras (head camera: 480x640 resolution, left and right hand cameras: 1200x1920 resolution). The dataset is licensed under Apache 2.0, stored in Parquet format, with a total data file size of 100MB and video file size of 200MB. All data is allocated for the training split.