taccap-g1-pick-up-QQ-candy-0707

该数据集是一个机器人操作数据集，专为双TacCap夹爪机器人（bi_taccap_gripper）设计。数据集包含总共61个episodes和140198帧数据，专注于单一任务，即拾取QQ糖果的操作。数据特征包括动作（action）和观察（observation），其中动作涉及左右夹爪的末端执行器位置（x, y, z）、姿态（r1到r6）以及夹爪位置（pos）；观察包括机器人状态（与动作类似）和图像数据，图像来自左右手腕摄像头（分辨率480x640）和左右触觉传感器（分辨率400x700），提供视频流以捕捉视觉和触觉信息。数据集以30fps的帧率录制，数据存储为parquet文件和视频文件（mp4格式），适用于机器人学习、强化学习或触觉感知研究。数据集由LeRobot工具创建，并遵循Apache 2.0许可证。This dataset is a robotic manipulation dataset specifically designed for the dual bi_taccap_gripper robot. It contains a total of 61 episodes and 140198 frames of data, focusing on a single task: picking up QQ candies. The dataset includes two core data types: action and observation. The action data covers the end-effector positions (x, y, z), orientations (r1 to r6), and gripper positions (pos) of both the left and right grippers. The observation data comprises robot states (similar to the action data) and image data. The image sources include left and right wrist cameras with a resolution of 480x640, as well as left and right tactile sensors with a resolution of 400x700, which provide video streams to capture both visual and tactile information. The dataset was recorded at a frame rate of 30fps, and the data is stored as parquet files and MP4 format video files. It is applicable to research in robotic learning, reinforcement learning, and tactile perception. This dataset was created with the LeRobot toolkit and is released under the Apache 2.0 license.