Lap-Joint Task

该数据集是一个基于模拟的集合，其中包含了一个机械臂在执行具有严格公差要求的搭接组装任务，该任务通过力和扭矩以及笛卡尔坐标位置的观测来完成。此外，数据集还包含了在真实机器人上的部署情况，以及在这一任务中遇到的挑战性细节。规模方面，该数据集包含了多种实验，这些实验对回放缓冲区的结构进行了不同变化。所涉及的任务是机器人组装任务。

This is a simulation-based dataset collection centered on a lap assembly task executed by a robotic arm with strict tolerance requirements, where the task relies on observations of force, torque, and Cartesian position. Additionally, the dataset incorporates real-world deployment scenarios on physical robotic arms, as well as challenging details encountered throughout the task execution. In terms of dataset scale, it contains diverse experiments with varying adjustments made to the structure of the replay buffer. The core task encompassed herein is robotic assembly.