so100_black_cube_v2

该数据集由LeRobot工具创建，包含30个episodes，每个episode对应一个拾取立方体并将其放入盒子中的任务（pick-and-place）。数据采集使用两台摄像头：前摄像头和末端执行器（手腕摄像头），以1280x720分辨率和30fps录制视频。数据集结构包括动作特征（如肩部平移、肩部提升、肘部弯曲、手腕弯曲、手腕旋转和夹爪位置）、观测状态（如关节位置）、图像观测（来自两个摄像头的视频数据）、时间戳、帧索引和episode索引。总帧数为11817帧，机器人类型为so_follower。数据以parquet格式存储结构化信息，视频以mp4格式存储。This dataset was developed by LeRobot and consists of 30 episodes, each corresponding to a pick-and-place task involving picking up a cube and placing it into a box. Data collection was performed using two cameras: a front-facing camera and an end-effector (wrist) camera, with videos recorded at 1280×720 resolution and 30 frames per second. The dataset includes the following components: action features (e.g., shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper position), observation states (e.g., joint positions), image observations (video data from both cameras), timestamps, frame indices, and episode indices. The total number of frames is 11817, and the robot platform used is so_follower. Structured information is stored in Parquet format, while video files are stored in MP4 format.