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object_x float64 | object_y float64 | object_z float64 | hand_joint_1 float64 | hand_joint_2 float64 | grip_force float64 | distance_to_object float64 | grasp_success int64 |
|---|---|---|---|---|---|---|---|
0.45 | 0.32 | 0.12 | 15.2 | 10.4 | 22.5 | 0.03 | 1 |
0.4 | 0.3 | 0.15 | 14.8 | 9.9 | 18.2 | 0.07 | 0 |
0.5 | 0.35 | 0.1 | 16 | 11.2 | 24.1 | 0.02 | 1 |
0.42 | 0.31 | 0.14 | 15 | 10.1 | 19.5 | 0.06 | 0 |
0.48 | 0.33 | 0.11 | 15.8 | 10.8 | 23 | 0.03 | 1 |
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HAN Humanoid Object Grasp Dataset
Overview
Dataset for training humanoid robots to detect and grasp objects.
Description
Contains object position data, hand joint states, and grasp success labels collected from simulation environments.
Data Structure
- object_x
- object_y
- object_z
- hand_joint_1
- hand_joint_2
- grip_force
- distance_to_object
- grasp_success
Task Type
Supervised Learning – Binary Classification
Use Case
- Robotic grasp training
- Pick-and-place tasks
- Manipulation learning
Size
8,000 samples (simulated)
License
Apache-2.0
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