kaiseong/simtos_0412_mirror_v2_cartesian

这是一个使用LeRobot创建的RBY1镜像操作数据集，从关节空间动作/状态转换为笛卡尔末端执行器姿态特征（rpy）。动作和观察状态都包含左右末端执行器姿态以及夹持器值，未保留手臂关节值。IK验证仅检查笛卡尔姿态重建，因为7自由度手臂关节配置不是由6D姿态唯一确定的。This is a RBY1 mirror manipulation dataset created using the LeRobot framework. It converts joint-space actions and states into Cartesian end-effector pose features (RPY). Both the recorded actions and observed states include the poses of the left and right end-effectors as well as gripper values, while arm joint values are not retained. IK validation only verifies Cartesian pose reconstruction, as a 7-degree-of-freedom (7-DoF) arm joint configuration cannot be uniquely determined by a 6-dimensional (6D) pose.