so101_pick_pen

该数据集是一个用于机器人任务的数据集，具体针对so101_pick_pen任务（拾取笔），使用LeRobot工具创建。数据集包含20个episodes，总计25950帧，以parquet格式存储。数据特征包括：动作（6个关节位置：肩部平移、肩部提升、肘部弯曲、腕部弯曲、腕部旋转、夹爪位置）、观察状态（与动作相同的6个关节位置）、以及来自三个视角的图像观察（手腕视角、前视角、顶视角），均为480x640分辨率、3通道的彩色视频，帧率为30fps。此外，还包含时间戳、帧索引、episode索引等元数据。数据集适用于机器人控制和学习研究，许可证为Apache-2.0。

This dataset is designed for robotic tasks, specifically for the so101_pick_pen task (picking up a pen), created using the LeRobot tool. It contains 20 episodes, totaling 25,950 frames, stored in parquet format. The data features include: actions (6 joint positions: shoulder translation, shoulder lift, elbow bend, wrist bend, wrist rotation, gripper position), observation states (the same 6 joint positions as actions), and image observations from three perspectives (wrist view, front view, top view), all in 480x640 resolution, 3-channel color video at 30fps. Additionally, it includes metadata such as timestamps, frame indices, and episode indices. The dataset is suitable for robotic control and learning research, licensed under Apache-2.0.