edmos7/so100_block_in_cup-trajectory

该数据集使用LeRobot框架创建，是一个机器人操作数据集，专门针对so100型机器人设计。数据集包含50个完整 episodes，总计21782帧，覆盖单一任务场景。数据以30fps的帧率采集，包含机器人的6维动作数据（主肩平移、主肩提升、主肘弯曲、主腕弯曲、主腕旋转、主夹爪）和对应的6维状态观察。同时提供多视角视觉数据：包括MAIN_CAM和SEC_CAM两个摄像头采集的480x640分辨率视频（AV1编码），以及轨迹图像观察。数据集结构包含时间戳、帧索引、episode索引、任务索引等元数据，总数据文件大小约100MB，视频文件大小约200MB。This dataset was created using the LeRobot framework, and it is a robotic manipulation dataset specifically designed for the so100 robot. It contains 50 complete episodes, totaling 21782 frames, covering a single task scenario. The data was collected at a frame rate of 30fps, and includes 6-dimensional action data of the robot (main shoulder translation, main shoulder elevation, main elbow flexion, main wrist flexion, main wrist rotation, main gripper) and the corresponding 6-dimensional state observations. It also provides multi-view visual data: videos with 480×640 resolution collected by two cameras, MAIN_CAM and SEC_CAM (encoded with AV1), as well as trajectory image observations. The dataset structure includes metadata such as timestamps, frame indices, episode indices, and task indices. The total size of the data files is approximately 100MB, and the total size of the video files is approximately 200MB.