Juanchix/mujoco-so101-cube_on_tray-mouse-v2

该数据集是一个机器人操作数据集，使用MuJoCo仿真环境和LeRobot工具创建。数据集包含40个训练片段，总计29999帧，涉及一个任务：在托盘上操作立方体（从数据集名称推断）。数据特征包括机器人的动作（6个自由度关节位置，如肩部平移、肩部升降、肘部弯曲、腕部弯曲、腕部旋转和夹爪位置）、观测状态（13个维度，包括关节位置和末端执行器的位置与四元数姿态），以及来自多个摄像头的图像观测：RGB图像（realsense）、深度图像（realsense_depth和realsense_depth_vis）和腕部摄像头图像（wrist_cam），所有图像分辨率为480x640，帧率为30fps。数据以parquet文件格式存储，视频以mp4格式存储，许可证为Apache 2.0。This dataset is a robotic manipulation dataset created using the MuJoCo simulation environment and the LeRobot toolkit. It contains 40 training episodes, totaling 29999 frames, and covers a single task: manipulating a cube on a tray (inferred from the dataset name). The data features include robot actions (6-degree-of-freedom joint positions, namely shoulder translation, shoulder elevation, elbow flexion, wrist flexion, wrist rotation, and gripper position), 13-dimensional observation states including joint positions, the position and quaternion pose of the end-effector, as well as image observations from multiple cameras: RGB images (realsense), depth images (realsense_depth and realsense_depth_vis), and wrist camera images (wrist_cam). All images have a resolution of 480x640 and a frame rate of 30 fps. The data is stored in Parquet file format, while videos are stored in MP4 format under the Apache 2.0 license.