taccap-g1-arrange-loose-papers-0724

该数据集是一个机器人学数据集，专注于使用双TacCap抓取器（bi_taccap_gripper）执行整理松散纸张的任务。它包含181个episodes和355801帧数据，以30fps的帧率录制。数据集结构丰富，包括动作数据（如左右工具中心点位置和抓取器位置）、观察状态（类似的动作相关状态），以及多个图像观察：左右触觉传感器图像（分辨率400x700）和左右腕部摄像头图像（分辨率480x640）。所有数据以Parquet格式存储，视频以MP4格式存储，总数据量约为300MB。数据集使用Apache 2.0许可证，适用于机器人控制、强化学习或触觉感知研究。This robotics dataset focuses on the task of tidying loose papers using a dual TacCap gripper (bi_taccap_gripper). It comprises 181 episodes and 355,801 frames of data, recorded at a frame rate of 30 fps. The dataset features a comprehensive structure, including action data (e.g., positions of the left and right tool center points and gripper positions), observation states (action-related states of a similar nature), and multiple image observations: left and right tactile sensor images with a resolution of 400×700, and left and right wrist camera images with a resolution of 480×640. All non-video data is stored in Parquet format, while the video recordings are stored in MP4 format, with a total data volume of approximately 300 MB. This dataset is licensed under Apache 2.0 and is applicable to research in robotic control, reinforcement learning, and tactile perception.