Juanchix/mujoco-so101-stack_cubes-mouse-v1

该数据集是一个机器人操作数据集，使用LeRobot工具创建，基于Mujoco模拟环境中的so101机器人模型。数据集包含57个训练集片段，总计118627帧，帧率为30fps。数据集中记录了机器人执行堆叠方块任务（mouse-v1）的演示数据。特征包括：6维动作空间（控制肩部、肘部、腕部关节和夹持器位置）；13维状态观测（包含6个关节位置和末端执行器的3D位置及四元数姿态）；以及多个视频观测，包括RealSense彩色摄像头、RealSense深度摄像头、RealSense深度可视化摄像头和手腕摄像头的视频流，所有视频分辨率均为480x640像素，3通道，使用AV1编解码器。数据以parquet文件格式存储，视频以mp4格式存储。

This dataset is a robotic manipulation dataset created using the LeRobot tool, based on the so101 robot model in the Mujoco simulation environment. It contains 57 training episodes, totaling 118,627 frames at 30 fps. The dataset records demonstration data for the task of stacking cubes (mouse-v1). Features include: a 6-dimensional action space (controlling shoulder, elbow, wrist joints and gripper positions); a 13-dimensional state observation (including 6 joint positions and the end-effectors 3D position and quaternion orientation); and multiple video observations from a RealSense color camera, RealSense depth camera, RealSense depth visualization camera, and a wrist camera, all with a resolution of 480x640 pixels, 3 channels, using the AV1 codec. Data is stored in parquet format, and videos are in mp4 format.