lerobot_peg_optical_4cams_0601

该数据集由LeRobot创建，是一个专门用于so_follower类型机器人的任务数据集。它包含110个任务片段，总计73476帧数据，帧率为30fps。数据特征涵盖机器人的动作（包括6个关节位置：肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置）、状态观测（同样6个关节位置）以及来自四个摄像头的图像观测（左腕摄像头、顶部摄像头、近右摄像头和近左摄像头），图像分辨率为480x640，3通道RGB格式。数据以parquet文件（用于存储动作和状态数据）和视频文件（用于存储图像数据）格式组织，适用于机器人学习和控制任务的研究。

This dataset is created by LeRobot and is a robot task dataset specifically designed for so_follower type robots. It contains 110 task segments, totaling 73,476 frames with a frame rate of 30fps. The data features include robot actions (6 joint positions: shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper position), state observations (the same 6 joint positions), and image observations from four cameras (left wrist camera, top camera, near right camera, and near left camera), with an image resolution of 480x640 in 3-channel RGB format. The data is organized in parquet files (for storing action and state data) and video files (for storing image data), making it suitable for research in robot learning and control tasks.