chaoqi-liu/mshab_settable_clean

mshab_settable_clean数据集是已发布的MS-HAB SetTable子任务的LeRobot格式转换版本。该数据集专注于SetTable子任务，包含两个任务字符串：set table: pick object（设置桌子：拾取物体）和set table: place object（设置桌子：放置物体）。数据集总共有4000个episodes，每个任务各2000个episodes，总帧数为151547帧，帧率为20fps。数据以parquet文件格式存储，并包含RGB视频（来自fetch_head和fetch_hand摄像头）。观测数据包括42维扁平状态、12维关节位置和速度、7维TCP和物体姿态、3维目标位置、1维抓取状态，以及128x128x3的RGB图像。动作数据为13维浮点控制向量，对应机器人关节和基座控制。数据集还保留了原始HDF5源的相机矩阵，并提供了详细的元数据和转换报告。

mshab_settable_clean is a LeRobot-format conversion of the released MS-HAB SetTable subtasks. It focuses on the SetTable subtasks, with task strings: set table: pick object and set table: place object. The dataset contains 4000 episodes in total, with 2000 episodes per task, 151547 total frames, and a frame rate of 20 fps. Data is stored in parquet format and includes RGB videos (from fetch_head and fetch_hand cameras). Observations include a 42-D flat state, 12-D joint positions and velocities, 7-D TCP and object poses, 3-D goal positions, 1-D grasp status, and 128x128x3 RGB images. Actions are 13-D float32 control vectors for robot joints and base. The dataset preserves camera matrices from the original HDF5 source and provides detailed metadata and conversion reports.