chaoqi-liu/mshab_settable_w_depth

mshab_settable_w_depth数据集是LeRobot格式的转换版本，源自MS-HAB SetTable子任务。该数据集包含了六个子任务：Pick、Place、OpenFr、OpenDr、CloseFr、CloseDr，总共有8000集，1600000帧，帧率为20fps。数据集的结构包括元数据文件、统计文件、任务文件等。观察映射包括状态、代理的qpos和qvel、额外信息如tcp_pose_wrt_base、obj_pose_wrt_base、goal_pos_wrt_base、is_grasped，以及RGB和深度图像。动作映射包括13维的float32控制。每集元数据存储在meta/mshab_source_episodes.jsonl中，转换摘要和验证存储在meta/mshab_settable_export_report.json中。

The mshab_settable_w_depth dataset is a LeRobot-format conversion of the released MS-HAB SetTable subtasks. It includes six subtasks: Pick, Place, OpenFr, OpenDr, CloseFr, CloseDr, with a total of 8000 episodes, 1600000 frames, and a frame rate of 20fps. The dataset structure includes metadata files, statistics files, task files, etc. Observation mapping includes state, agents qpos and qvel, extra information such as tcp_pose_wrt_base, obj_pose_wrt_base, goal_pos_wrt_base, is_grasped, as well as RGB and depth images. Action mapping includes 13-D float32 control. Per-episode metadata is stored in meta/mshab_source_episodes.jsonl, and conversion summary and verification are stored in meta/mshab_settable_export_report.json.