aloha_test_6dof

这是一个由LeRobot工具创建的机器人数据集，专注于双机械臂（左臂和右臂）的动作和状态观测。动作数据包含16个浮点数值，分别对应左右机械臂的关节位置，具体包括肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部滚动和夹爪位置，以及速度控制（x、y、theta速度）和提升轴高度。观测数据分为两部分：状态观测（与动作相同的16个值）和视觉观测，视觉观测来自前向摄像头和右腕摄像头，视频分辨率为480x640，3通道颜色，帧率为30fps。此外，数据集还包含时间戳、帧索引、episode索引、索引和任务索引等元数据。数据集总共有1个episode、918帧，数据以parquet文件格式存储，视频以mp4格式存储，机器人类型为alohamini_client。This is a robotic dataset created by the LeRobot toolkit, focusing on the motion and state observations of dual robotic arms (left and right arms). The motion data consists of 16 floating-point values, corresponding to the joint positions of the left and right robotic arms, specifically including shoulder translation, shoulder lift, elbow flexion, wrist flexion, wrist roll, gripper position, velocity control (x, y, and theta velocities), and lift axis height. The observation data is divided into two parts: state observations (the same 16 values as the motion data) and visual observations. The visual observations are sourced from the front-facing camera and the right wrist camera, with a video resolution of 480×640, 3-channel color, and a frame rate of 30 fps. In addition, the dataset includes metadata such as timestamps, frame indices, episode indices, indices, and task indices. The dataset has a total of 1 episode and 918 frames, with the data stored in Parquet file format and the videos stored in MP4 format. The robotic platform type is alohamini_client.