Robot Manipulators Dataset

该数据集基于MuJoCo环境中的Sawyer机器人，包含了一系列具有不同动力学、运动学结构、连杆长度和自由度的机器人操作臂。该数据集为各种操作任务提供了机器人配置，为每种机器人类型定义了特定的状态和动作。规模上，数据集涵盖了9种设计各异的机器人（包括5自由度、6自由度和7自由度）。所涉及的任务包括“到达”和“插销”操作。

This dataset is constructed based on the Sawyer robot within the MuJoCo simulation environment, and includes a series of robotic manipulators with varying dynamics, kinematic structures, link lengths, and degrees of freedom (DoFs). It supplies robot configurations for diverse manipulation tasks, and defines dedicated state and action spaces for each robot type. In terms of scale, the dataset covers 9 uniquely designed robots, including 5-DoF, 6-DoF, and 7-DoF manipulators. The covered manipulation tasks are "reach" and "peg-in-hole" operations.