ganatrask/trossen_sim

Trossen夹爪抓取和放置模拟数据集是一个用于模仿学习的模拟数据集，在MuJoCo模拟器中生成，使用Trossen平行夹爪在3自由度笛卡尔龙门架上进行。数据集包含500个情节，每个情节有145个步骤，记录频率为20 Hz。任务描述中详细说明了夹爪如何从随机位置抓取一个2厘米的立方体并将其放置到随机目标位置。文件结构包括episodes和videos两个目录，分别存储HDF5格式的情节数据和MP4格式的视频数据。HDF5文件格式详细描述了每个情节中包含的数据，如末端执行器姿态、夹爪命令、实际末端执行器姿态、夹爪宽度等。此外，还提供了模拟参数的详细信息，如龙门架工作空间、夹爪行程、立方体尺寸等。

The Trossen Gripper Pick-and-Place Simulation Dataset is a simulated dataset for imitation learning, generated in MuJoCo with a Trossen parallel-jaw gripper on a 3-DOF Cartesian gantry. The dataset contains 500 episodes, each with 145 steps recorded at 20 Hz. The task involves the gripper picking up a 2cm cube from a randomized position on a table and placing it at a randomized target location. The file structure includes episodes and videos directories, storing HDF5-formatted episode data and MP4-formatted video data, respectively. The HDF5 file format details the data contained in each episode, such as end-effector poses, gripper commands, actual end-effector poses, gripper width, etc. Additionally, simulation parameters are provided, including gantry workspace, gripper stroke, cube size, etc.