CarlosMunoz0/mujoco-so101-stack_cubes-joystick-v2

该数据集是一个机器人操作数据集，使用LeRobot工具创建，专门用于机器人学习任务。数据集基于MuJoCo模拟环境，涉及机器人型号so101_mujoco执行堆叠立方体任务（stack_cubes），并通过操纵杆（joystick）进行控制。数据集包含43个完整episodes，总计89891帧，帧率为30fps。数据以parquet格式存储，总数据文件大小为100MB，视频文件大小为200MB。数据集特征包括：动作（6维浮点数，表示机器人关节位置和夹持器位置）、观察状态（13维浮点数，包括关节位置、末端执行器位置和四元数）、多种图像观察（如realsense RGB图像、realsense深度图像、realsense深度可视化图像和手腕摄像头图像，均为480x640分辨率、3通道视频）、以及时间戳、帧索引、episode索引、索引和任务索引等辅助字段。所有数据仅用于训练分割（train split）。

This dataset is a robotic manipulation dataset created using the LeRobot tool, specifically designed for robot learning tasks. It is based on the MuJoCo simulation environment, involving the robot model so101_mujoco performing a stack cubes task, controlled via a joystick. The dataset contains 43 complete episodes, totaling 89,891 frames at 30fps. Data is stored in parquet format, with a total data file size of 100MB and video file size of 200MB. Dataset features include: action (6-dimensional float32, representing robot joint positions and gripper position), observation state (13-dimensional float32, including joint positions, end-effector position, and quaternion), various image observations (such as realsense RGB images, realsense depth images, realsense depth visualization images, and wrist camera images, all as 480x640 resolution, 3-channel videos), and auxiliary fields like timestamp, frame index, episode index, index, and task index. All data is used for the train split only.