RoboTwin_adjust_bottle_randomized

该数据集是由LeRobot项目创建的机器人控制数据集，包含500个任务片段、68,578帧数据，涉及421个不同任务。数据集采用parquet格式存储，包含机器人状态观测（16维浮点数，包括左右机械臂的位置、四元数姿态和夹爪状态）、控制动作（14维浮点数）、来自三个不同视角（高清摄像头、左右腕部摄像头）的RGB图像（3通道240x320分辨率），以及时间戳、帧索引、任务索引等元数据信息。数据采样频率为15帧/秒，总数据量约300MB（数据文件100MB，视频文件200MB）。This robot control dataset was created by the LeRobot project. It consists of 500 task segments and 68,578 frames of data, spanning 421 distinct tasks. The dataset is stored in Parquet format, and includes robot state observations (16-dimensional floating-point vectors covering positions, quaternion orientations, and gripper states of the left and right robotic arms), control actions (14-dimensional floating-point vectors), RGB images (3-channel, 240×320 resolution) captured from three different viewpoints: a high-definition main camera, and left and right wrist-mounted cameras, as well as metadata such as timestamps, frame indices, and task indices. The data is sampled at a rate of 15 frames per second, with an overall size of approximately 300 MB (100 MB for data files and 200 MB for video files).