rishgang22/single_lego_pick_place_v3

该数据集由LeRobot创建，专注于机器人技术任务，具体涉及单个乐高积木的拾取和放置操作。数据集包含了机器人的动作和观察数据，动作数据包括6个关节（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）的位置信息，观察数据包括状态（同样为6个关节位置）以及来自头顶和手腕摄像头的图像视频（分辨率为480x640，3通道，帧率为30fps）。此外，数据集还包含时间戳、帧索引、episode索引、任务索引等元数据。总共有83个episodes，35835帧，数据以parquet文件（总大小100MB）和视频文件（总大小200MB）形式存储，适用于机器人学习和控制任务。This dataset was created using LeRobot and focuses on robotics tasks, specifically involving single Lego brick pick-and-place operations. It includes robot action and observation data: actions consist of positions for 6 joints (such as shoulder pan, shoulder lift, elbow flex, wrist flex, wrist roll, and gripper positions), while observations include state (also 6 joint positions) and video images from overhead and wrist cameras (with a resolution of 480x640, 3 channels, and a frame rate of 30fps). Additionally, the dataset contains metadata such as timestamps, frame indices, episode indices, and task indices. There are a total of 83 episodes and 35,835 frames, stored in parquet files (total size 100MB) and video files (total size 200MB), making it suitable for robot learning and control tasks.