taccap-g1-align-remote-and-laser-pointer-0724

该数据集由LeRobot创建，专注于机器人学领域，具体针对双TacCap夹爪机器人（bi_taccap_gripper）。它包含19个训练片段，总计60489帧，覆盖1个任务。数据以parquet格式存储，特征包括动作（一个20维浮点数组，表示左右手工具中心点位置、旋转和夹爪位置）、观察状态（类似的动作状态数据）、多视角图像观察（如左右手腕摄像头图像和左右触觉传感器图像，图像分辨率和视频编码信息已指定），以及时间戳、帧索引、episode索引等元数据。帧率为每秒30帧，数据总大小约100 MB，视频文件大小约200 MB。数据集旨在支持机器人控制和学习任务，促进机器人感知和动作建模的研究和应用。This dataset was created by LeRobot, focusing on the field of robotics, specifically targeting the bi_taccap_gripper (dual TacCap gripper). It contains 19 training episodes, totaling 60,489 frames, and covers one single task. The data is stored in Parquet format, with features including actions (a 20-dimensional floating-point array representing the position, rotation of the tool center points (TCP) of the left and right hands, as well as the gripper position), observation states (analogous action state data), multi-view image observations (such as images from the left and right wrist cameras and left and right tactile sensor images, with image resolution and video coding information specified), and metadata such as timestamps, frame indices, and episode indices. The frame rate is 30 fps. The total size of the dataset is approximately 100 MB, while the video files have a total size of around 200 MB. This dataset is designed for robotics control and learning tasks, and supports robot perception and action modeling.