so101_pick_place_sim

该数据集是一个机器人操作模拟数据集，专注于拾取和放置任务。数据集包含50个完整操作序列（episodes），共计8902帧数据，帧率为30fps。数据存储为parquet格式，总数据量100MB，视频数据200MB。数据集记录了机器人6个关节的状态观测值（肩部平移、肩部抬升、肘部弯曲、腕部弯曲、腕部旋转和夹持器状态），以及相应的6个关节控制动作。同时包含两个视角的视频观测：顶部摄像头和腕部摄像头，分辨率均为480x640，RGB三通道格式。数据集采用分块存储方式，每块约1000帧。This dataset is a robotic manipulation simulation dataset focused on pick-and-place tasks. It contains 50 complete manipulation episodes, totaling 8902 frames with a frame rate of 30 fps. The data is stored in Parquet format, with a total data size of 100 MB and video data totaling 200 MB. The dataset records the state observations of the robot's 6 joints (shoulder translation, shoulder lift, elbow flexion, wrist flexion, wrist rotation, and gripper state), as well as the corresponding 6 joint control actions. It also includes video observations from two viewpoints: the top camera and the wrist camera, both with a resolution of 480x640 and RGB three-channel format. The dataset adopts chunked storage, with each chunk containing approximately 1000 frames.