cbrian/dataset_env_SST_SP3_WC1_TC1_task_pickplaceblueblock_numepi_10_ctrl_cartesian

该数据集是一个机器人学数据集，使用LeRobot工具创建，专注于机器人操控任务。具体任务为拾放蓝色积木（pickplaceblueblock），采用Franka Panda机器人平台，通过笛卡尔空间控制（ctrl_cartesian）执行。数据集包含10个完整训练片段（episodes），总计1571帧数据，采样频率为15 fps。观测特征包括：主摄像头和手腕摄像头的RGB视频（分辨率256x256，3通道），以及机器人的状态信息（笛卡尔坐标、夹爪状态、7个关节角度、目标位姿）。动作空间为7维，包括位置（x, y, z）、姿态（roll, pitch, yaw）和夹爪控制。数据以parquet格式存储，视频以mp4格式（AV1编码）存储，适用于机器人模仿学习或强化学习研究。

This is a robotics dataset created using the LeRobot toolkit, focusing on robotic manipulation tasks. The specific task is pick-and-place of blue blocks (named pickplaceblueblock), implemented on the Franka Panda robotic platform via Cartesian space control (ctrl_cartesian). The dataset contains 10 complete training episodes, totaling 1571 frames of data with a sampling frequency of 15 fps. Observation features include RGB videos from the main camera and wrist camera (resolution: 256×256, 3 channels), as well as robot state information including Cartesian coordinates, gripper status, 7 joint angles, and target pose. The action space is 7-dimensional, covering position (x, y, z), orientation (roll, pitch, yaw), and gripper control. The dataset is stored in Parquet format, while the videos are stored in MP4 format with AV1 encoding, which is applicable for robotic imitation learning or reinforcement learning research.