360网站卖东西怎么做的,网站建设 慕课,网络营销策划书2000字,个人网站免费建设文章目录 前言数据总览数据介绍actionsrobot0_eef_poserobot0_eef_quatstatesobject 参考资料 前言 一切为了能自己构建属于自己的数据集#xff0c;所以#xff0c;从现有数据集剖析入手。 目前#xff0c;基于 MimicGen 官方提供的数据集#xff0c;初始数据集有11组… 文章目录 前言数据总览数据介绍actionsrobot0_eef_poserobot0_eef_quatstatesobject 参考资料 前言 一切为了能自己构建属于自己的数据集所以从现有数据集剖析入手。 目前基于 MimicGen 官方提供的数据集初始数据集有11组其中每组数据中包含10个demo每个 demo 的数据构成是一样的只是轨迹和物体的姿态不一样。
数据总览
为简化工作流程在本文中若无特殊标记均为针对 stack.hdf5 数据集的解析 -data-- attr: env_args-- attr: total-- demo_0 # 10 组--- attr: model_file--- arrt: num_samples--- actions--- dones--- rewards--- states--- obs---- agentview_image---- object---- robot0_eef_pos---- robot0_eef_quat---- robot0_eef_vel_ang---- robot0_eef_vel_lin---- robot0_eye_in_hand_image---- robot0_gripper_qpos---- robot0_gripper_qvel---- robot0_joint_pos---- robot0_joint_pos_cos---- robot0_joint_pos_sin---- robot0_joint_vel-- demo_1-- ......-- demo_9-mask-- first_10针对不同关键词及对应数据的解释其中 / 表示未知
KeyDescriptionDimGetRobomimic使用方法Noteenv_args(attr)基础配置信息string人工定义/包含场景名称、控制器OSC_POSE等信息total(attr)/1001///model_file(attr)场景信息string人工定义/详细配置参数包括机器人位置物体位姿、属性等num_samples(attr)轨迹点数量87计算//actions动作87 * 7示教/与控制器类型对应表示(x, y, z, r, p, y, -1/1)前6位表姿态最后一位表示夹具状态-1表示打开状态1表示闭合状态dones是否完成任务87//前82位为0后5位为1rewards奖励参数87//前82位为0.0后5位为1.0states状态87 * 45//Mujoco表示状态的方式 *object物体表示87 * 23///robot0_eef_pos机器人末端位置87 * 3示教/x, y, zrobot0_eef_quat末端姿态87 * 4示教/qw, qx, qy, qzrobot0_eef_vel_ang末端角速度87 * 3//robot0_eef_vel_lin末端线速度87 * 3//robot0_gripper_qpos夹具(关节)位置87 * 2robot0_gripper_qvel夹具速度87 * 2robot0_joint_pos7Dof关节位置87 * 7robot0_joint_pos_cos/87 * 7robot0_joint_pos_sin/87 * 7robot0_joint_vel关节速度87 * 7
数据介绍
actions
前 10 组数据为
[0.11900000000000001, -0.027, -0.163, -0.0027573707047849894, 0.09558416903018951, 0.018667636439204216, -1.0]
[0.22200000000000003, -0.004, -0.247, -0.001246497966349125, 0.09782034158706665, 0.02653670310974121, -1.0]
[0.35500000000000004, -0.158, -0.35200000000000004, 0.01000046357512474, 0.08761297911405563, 0.04865993559360504, -1.0]
[0.398, -0.08, -0.515, 0.008693302050232887, 0.07150734215974808, 0.08536489307880402, -1.0]
[0.45799999999999996, -0.056999999999999995, -0.545, 0.006539663765579462, 0.05647878348827362, 0.11847471445798874, -1.0]
[0.439, 0.076, -0.594, -0.00130382867064327, 0.04076612368226051, 0.14484722912311554, -1.0]
[0.439, 0.11199999999999999, -0.599, -0.009466821327805519, 0.025265417993068695, 0.16476278007030487, -1.0]
[0.384, 0.181, -0.542, -0.00946812517940998, 0.02268858812749386, 0.1813860535621643, -1.0]
[0.344, 0.13699999999999998, -0.543, -0.010094424709677696, 0.01842835173010826, 0.19724716246128082, -1.0]
[0.303, 0.131, -0.553, -0.008746521547436714, 0.00791255198419094, 0.21429434418678284, -1.0]robot0_eef_pose
前 10 组数据为
[-0.10677228640382701, -0.007912818970765859, 0.9978511242350278]
[-0.10621354303360744, -0.006935816058219822, 0.9979395750460012]
[-0.10536093958873115, -0.006315994512394012, 0.9957368956011524]
[-0.10292113662390937, -0.006428708338244041, 0.9913538586666457]
[-0.09888318372052782, -0.006433863197485929, 0.985309696980578]
[-0.09367487660808188, -0.006261336940084016, 0.9782275947352779]
[-0.08798568739163559, -0.005638058018654422, 0.9705599359873655]
[-0.08209873483921205, -0.004743362303315956, 0.962652752983167]
[-0.07657093954923748, -0.003287089779160534, 0.9550401634889241]
[-0.07158081623646902, -0.001681889698740893, 0.9477366260562331]robot0_eef_quat
前 10 组数据为
[0.9987497020281128, -0.005340784012888566, 0.04969201885270823, 0.0011009029139912377]
[0.998764328193982, -0.0037890852616592205, 0.049544501455921285, 0.0008955085639633759]
[0.9989091769069497, -0.0020599392656113213, 0.04664085209166352, 0.0009186171488014434]
[0.999086829166481, -0.0004595555938569085, 0.04271319705277585, 0.0009377591661813914]
[0.9992429301494844, 0.0028395374951761805, 0.038795429035699124, 0.0006467294813540437]
[0.9993372250884551, 0.008313254230825684, 0.0354395485249257, 0.00019686784783459234]
[0.9993433766030909, 0.015947470957228708, 0.03253290289028111, -0.0003225509772582462]
[0.9992261832040216, 0.025115127092460332, 0.030262966085433277, -0.0006465867030544439]
[0.9989703212844835, 0.03539576655809851, 0.028364696315765554, -0.0009385656368913736]
[0.9985707083451394, 0.04633552838823607, 0.02661470086373277, -0.0011031509432972032]states
ipdb f[data][demo_0][states][0]
array([ 0. , 0.00566507, 0.23094458, -0.01965714, -2.60890608,0.01534579, 2.93922448, 0.7684602 , 0.020833 , -0.020833 ,-0.07533379, 0.00950491, 0.83 , -0.89364334, 0. ,0. , 0.44877787, -0.02757463, 0.07990465, 0.835 ,0.59937795, 0. , 0. , 0.80046616, 0. ,0. , 0. , 0. , 0. , 0. ,0. , 0. , 0. , 0. , 0. ,0. , 0. , 0. , 0. , 0. ,0. , 0. , 0. , 0. , 0. ])
ipdb f[data][demo_0][states][-1]
array([ 4.30000000e00, 5.59799918e-02, 7.21294844e-01, 7.20511426e-02,-2.15581180e00, -1.09002756e-01, 2.89116760e00, 6.91851452e-01,3.40614251e-02, -3.39791898e-02, -1.38892392e-02, 8.35409363e-02,8.69026681e-01, -8.13647281e-01, 1.67608256e-03, 2.73918668e-03,5.81349971e-01, -2.75145818e-02, 7.99156301e-02, 8.24690121e-01,5.99382437e-01, 8.13167534e-04, 8.85709985e-04, 8.00461897e-01,5.07794596e-02, -3.80039429e-03, -2.87840718e-02, -5.71935216e-02,-4.75354677e-02, 1.49040575e-01, 9.27308822e-02, 5.80022004e-02,-5.79495064e-02, 2.90350009e-03, -1.17890268e-03, 4.38212894e-03,-1.20456301e-01, 1.09043320e-01, 2.78845797e-04, -2.27485074e-05,4.12241415e-05, -1.23992816e-04, -4.21637708e-04, 1.86013180e-03,-6.15372096e-06])object
ipdb f[data][demo_0][obs][object][0]
array([-0.07533379, 0.00950491, 0.83 , 0. , 0. ,0.44877787, -0.89364334, -0.02757463, 0.07990465, 0.835 ,0. , 0. , 0.80046616, 0.59937795, 0.03143849,0.01741772, -0.16785112, 0.07919765, 0.08781747, -0.16285112,0.04775916, 0.07039975, 0.005 ])
ipdb f[data][demo_0][obs][object][-1]
array([-1.38892392e-02, 8.35409363e-02, 8.69026681e-01, 1.67608256e-03,2.73918668e-03, 5.81349971e-01, -8.13647281e-01, -2.75145818e-02,7.99156301e-02, 8.24690121e-01, 8.13167534e-04, 8.85709985e-04,8.00461897e-01, 5.99382437e-01, 9.96283912e-03, 2.85510509e-03,-8.71079446e-03, -3.66250354e-03, -7.70201109e-04, -5.30473545e-02,-1.36253427e-02, -3.62530620e-03, -4.43365600e-02])参考资料
robomimic-study
