franka_1cam

该数据集是使用LeRobot创建的，主要用于机器人技术领域。数据集包含178个集，56507帧，10个任务，数据文件大小为100MB，视频文件大小为200MB，帧率为20fps。数据集的特征包括观察状态（29个浮点数，包括关节位置、速度、末端执行器位置、姿态、速度、角速度、夹持器位置和抓取状态）、动作（7个浮点数，包括末端执行器的位移、旋转和夹持器状态）、图像观察（左后、手腕、右后三个视角的480x640 RGB视频）、时间戳、帧索引、集索引、索引和任务索引等。

This dataset was developed using LeRobot, primarily for robotics-related research and applications. It comprises 178 episodes, 56,507 frames, and encompasses 10 tasks. The total size of data files is 100 MB, while that of video files is 200 MB, and the frame rate is set to 20 fps. The dataset's features include observation states, actions, image observations, as well as timestamps, frame indices, episode indices, sample indices and task indices. Specifically, the observation states consist of 29 floating-point values, covering joint positions, joint velocities, end-effector positions, end-effector orientations, end-effector linear velocities, end-effector angular velocities, gripper positions and grasping status; the actions are composed of 7 floating-point values, including end-effector displacements, end-effector rotations and gripper states; the image observations are 480×640 RGB videos captured from three perspectives: left rear, wrist and right rear.