Search is not available for this dataset
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End of preview. Expand in Data Studio
waaah15/so101_mujoco_pickplace
数据集描述
这是一个使用MuJoCo仿真环境录制的SO-ARM101机械臂夹取数据集。
数据集结构
- 数据来源: MuJoCo仿真环境
- 机器人: SO-ARM101 (5关节 + 1夹爪)
- 任务: pick_and_place
- Episodes: 5
- 总帧数: 1000
数据格式
每个数据帧包含:
observation.state: 观测状态 (17维)- 关节位置 (5维)
- 关节速度 (5维)
- 夹爪位置 (1维)
- 物体位置 (3维)
- 末端执行器位置 (3维)
action: 动作 (6维)- 关节目标位置 (5维)
- 夹爪控制 (1维)
使用方法
from lerobot.datasets import LeRobotDataset
# 加载数据集
dataset = LeRobotDataset("waaah15/so101_mujoco_pickplace")
# 获取第一个episode
episode = dataset[0]
print(f"观测形状: {episode['observation.state'].shape}")
print(f"动作形状: {episode['action'].shape}")
引用
如果您使用此数据集，请引用:
@misc{so101_mujoco_dataset,
title={SO-ARM101 MuJoCo Pick-and-Place Dataset},
author={Your Name},
year={2026},
howpublished={\url{https://huggingface.co/waaah15/so101_mujoco_pickplace}}
}
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