ganatrask/pika_sim

Pika Sim拾取放置数据集是一个使用MuJoCo模拟器和Agilex Pika夹持器模型生成的模拟数据集。数据集包含500个episodes，每个episode有149个步骤，成功率为100%。数据集结构包括HDF5文件和视频文件，记录了机械臂的末端执行器姿态、夹持器状态、时间戳等信息。任务描述为一个3自由度笛卡尔门架上的平行夹持器从随机位置拾取立方体并将其放置在桌子上的随机目标位置。

Pika Sim — Pick & Place Dataset is a simulated pick-and-place dataset generated with MuJoCo using the Agilex Pika gripper model. The dataset consists of 500 episodes, each with 149 steps, and a success rate of 100%. The dataset structure includes HDF5 files and video files, recording the end-effector pose, gripper state, timestamps, etc. The task involves a parallel-jaw gripper on a 3-DOF Cartesian gantry picking up a cube from a randomized position and placing it at a randomized target location on a table.