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--- |
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license: mit |
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size_categories: |
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- "1G < size <10G" |
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language: |
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- en |
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--- |
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<h1 align="center"><strong>DAS: Data Acquisition System</strong></h1> |
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<p align="center">Enable embodied intelligence data acquisition to be as simple and natural as shooting a video.</p> |
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--- |
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## 📋 Contents |
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- [📦 How to Use the Dataset](#📦-how-to-use-the-dataset) |
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- [📚 Dataset Structure](#📚-dataset-structure) |
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- [License](#license) |
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- [Contact](#contact) |
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## 📦 How to Use the Dataset |
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Due to Hugging Face's file size limitation of 50GB per file, the dataset has been split into smaller parts. |
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## 📚 Dataset Structure |
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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: |
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``` |
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xxx.h5 |
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├── observations/ |
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│ ├── cameras/ |
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│ │ └── <camera_name_x> (Dataset) |
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│ ├── tactile/ |
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│ │ └── <left or right> (Dataset) |
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│ ├── eef_pos (Dataset) |
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│ └── imu (Dataset) |
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├── label/ |
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│ └── depthmap (Dataset) |
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└── action (Dataset) (actions mirror the eef_pos data) |
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``` |
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💡 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. |
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Groups and Datasets: |
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observations/ |
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- cameras/ |
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- Description: Image data from camera. |
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- Datasets: |
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- Type: Dataset |
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- 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 |
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- Data Type: uint8 |
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- Compression: gzip with compression level 4. |
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- tactile/ |
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- Description: Pressure data from tactile sensor. |
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- Datasets: |
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- Type: Dataset. |
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- Shape: (num_frames, 96), row=12, col=8 |
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- Data Type: float32 |
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- Compression: gzip with compression level 4. |
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- eef_pos/ |
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- Type: Dataset. |
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- Shape: (num_frames, 8) |
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- Data Type: float32 |
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- Description: Position and orientation data for each timestep. We obtain high-precision positioning information based on SLAM technology. |
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- Columns: [Pos_X, Pos_Y, Pos_Z, Q_X, Q_Y, Q_Z, Q_W, Gripper_width] |
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- Compression: gzip with compression level 4. |
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- imu/ |
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- Type: Dataset. |
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- Shape: (num_frames, 6) |
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- Data Type: float32 |
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- Description: Angular Velocity and Linear Acceleration data from IMU sensor for each timestep. We align IMU and image data based on timestamp. |
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- Columns: [AngularVel_X, AngularVel_Y, AngularVel_Z, LinearAcc_X, LinearAcc_Y, LinearAcc_Z] |
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- Compression: gzip with compression level 4. |
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label/ |
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- depthmap/ |
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- Type: Dataset |
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- Shape: (num_frames, height=xxx, width=xxx) for mid fisheye camera, (num_frames, height=xxx, width=xxx) for side wide camera |
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- Data Type: float32 |
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- Description: Depth map estimated from RGB image. At present, we have only released the depth map of one camera view. |
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- Compression: gzip with compression level 4. |
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action/ |
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- Type: Dataset |
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- Shape: (num_frames, 8) |
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- Data Type: float32 |
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- Description: Stores action data corresponding to each timestep. Same to eef_pos. |
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- Columns: [Pos_X, Pos_Y, Pos_Z, Q_X, Q_Y, Q_Z, Q_W, Gripper_width] |
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- Compression: gzip with compression level 4. |
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## License |
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This project is licensed under the [MIT License](https://opensource.org/licenses/MIT). |
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## Contact |
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For questions or feedback, please reach out to the info@genrobot.com or visit our [website](https://genrobot.ai/). |
