metadata
license: mit
size_categories:
- 1G < size <10G
language:
- en
DAS: Data Acquisition System
Enable embodied intelligence data acquisition to be as simple and natural as shooting a video.
📋 Contents
📦 How to Use the Dataset
Due to Hugging Face's file size limitation of 50GB per file, the dataset has been split into smaller parts.
📚 Dataset Structure
Purpose: Each HDF5 file corresponds to a single episode and encapsulates both observational data and actions. Below is the hierarchical structure of the HDF5 file:
xxx.h5
├── observations/
│ ├── cameras/
│ │ └── <camera_name_x> (Dataset)
│ ├── tactile/
│ │ └── <left or right> (Dataset)
│ ├── eef_pos (Dataset)
│ └── imu (Dataset)
├── label/
│ └── depthmap (Dataset)
└── action (Dataset) (actions mirror the eef_pos data)
💡 For Demo data, it has a frame rate of 10Hz (downsample from 30Hz to 10Hz). The length and width of the image data are downsampled to half the original size.
Groups and Datasets:
observations/
- cameras/
- Description: Image data from camera.
- Datasets:
- Type: Dataset
- Shape: (num_frames, height=xxx, width=xxx, channels=3) for mid fisheye camera, (num_frames, height=xxx, width=xxx, channels=3) for side wide camera
- Data Type: uint8
- Compression: gzip with compression level 4.
- tactile/
- Description: Pressure data from tactile sensor.
- Datasets:
- Type: Dataset.
- Shape: (num_frames, 96), row=12, col=8
- Data Type: float32
- Compression: gzip with compression level 4.
- eef_pos/
- Type: Dataset.
- Shape: (num_frames, 8)
- Data Type: float32
- Description: Position and orientation data for each timestep. We obtain high-precision positioning information based on SLAM technology.
- Columns: [Pos_X, Pos_Y, Pos_Z, Q_X, Q_Y, Q_Z, Q_W, Gripper_width]
- Compression: gzip with compression level 4.
- imu/
- Type: Dataset.
- Shape: (num_frames, 6)
- Data Type: float32
- Description: Angular Velocity and Linear Acceleration data from IMU sensor for each timestep. We align IMU and image data based on timestamp.
- Columns: [AngularVel_X, AngularVel_Y, AngularVel_Z, LinearAcc_X, LinearAcc_Y, LinearAcc_Z]
- Compression: gzip with compression level 4.
label/
- depthmap/
- Type: Dataset
- Shape: (num_frames, height=xxx, width=xxx) for mid fisheye camera, (num_frames, height=xxx, width=xxx) for side wide camera
- Data Type: float32
- Description: Depth map estimated from RGB image. At present, we have only released the depth map of one camera view.
- Compression: gzip with compression level 4.
action/
- Type: Dataset
- Shape: (num_frames, 8)
- Data Type: float32
- Description: Stores action data corresponding to each timestep. Same to eef_pos.
- Columns: [Pos_X, Pos_Y, Pos_Z, Q_X, Q_Y, Q_Z, Q_W, Gripper_width]
- Compression: gzip with compression level 4.
License
This project is licensed under the MIT License.
Contact
For questions or feedback, please reach out to the info@genrobot.com or visit our website.