so101-pickplace-sim-mujoco
收藏资源简介：
SO-101 Pick & Place Simulation Dataset 是一个在MuJoCo仿真环境中收集的机器人操作演示数据集。该数据集遵循LeRobot v2.1数据格式标准，专门针对SO-101六自由度机械臂的拾取放置任务。数据规模包含5,000个训练片段，总计约2,380,000帧数据，控制频率为50赫兹。观测数据包含两个视角的视觉信息：一个前置摄像头和一个腕部摄像头，分辨率均为480x640像素，视频采用libx264编码存储为MP4格式。机器人状态数据包括六个关节的状态：shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper。数据集以结构化形式组织：帧数据（如状态、动作、时间戳）存储在Parquet文件中；两个摄像头的视频分别存放在独立目录；此外还提供了包含数据集元信息的info.json文件以及状态和动作描述性统计的stats.json文件。该数据集适用于机器人模仿学习、强化学习、视觉运动策略学习等任务的研究与开发。
SO-101 Pick & Place Simulation Dataset is a robot manipulation demonstration dataset collected in the MuJoCo simulation environment. It adheres to the LeRobot v2.1 data format standard and is specifically designed for the pick-and-place task using the SO-101 six-degree-of-freedom robotic arm. The dataset comprises 5,000 training episodes, totaling approximately 2,380,000 frames with a control frequency of 50 Hz. Observations include visual data from two camera perspectives: a front camera and a wrist camera, both with a resolution of 480x640 pixels, and videos are stored in MP4 format using libx264 encoding. Robot state data consists of six joint states: shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper. The dataset is organized in a structured manner: frame data (such as states, actions, timestamps) is stored in Parquet files; videos from the two cameras are placed in separate directories; additionally, an info.json file containing dataset metadata and a stats.json file with descriptive statistics for states and actions are provided. This dataset is suitable for research and development in tasks such as robot imitation learning, reinforcement learning, and visual-motor policy learning.
数据集概述
数据集名称：SO-101 Pick & Place Simulation Dataset
许可证：Apache-2.0
任务类别：机器人学（robotics）
标签：lerobot, so101, pick-and-place, simulation, mujoco
该数据集由 MuJoCo 仿真环境收集，包含 SO-101 机器人手臂的拾取与放置（Pick & Place）演示数据，采用 LeRobot v2.1 格式。
基本信息
| 项目 | 值 |
|---|---|
| 总集数（Epsiodes） | 5,000 |
| 总帧数 | 2,380,000 |
| 控制频率 | 50 Hz |
| 相机 | 前侧摄像头（480×640）、腕部摄像头（480×640） |
| 视频编码 | libx264 |
| 机器人型号 | SO-101（6 自由度） |
| 任务 | 拾取与放置（Pick & Place） |
数据内容
关节名称：
shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper
数据存储结构：
data/chunk-NNN/file-NNN.parquet：帧数据（包括状态、动作、时间戳等）videos/observation.images.front/：前侧摄像头视频（MP4 格式）videos/observation.images.wrist/：腕部摄像头视频（MP4 格式）meta/info.json：数据集元信息meta/stats.json：状态/动作的描述性统计
使用方式
可通过 LeRobot 库加载数据集，示例如下：
python from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
dataset = LeRobotDataset("szk1ck/so101-pickplace-sim-mujoco")
