| --- |
| license: mit |
| size_categories: |
| - "1G < size <10G" |
| language: |
| - en |
| --- |
| |
|
|
| <h1 align="center"><strong>DAS: Data Acquisition System</strong></h1> |
|
|
| <p align="center">Enable embodied intelligence data acquisition to be as simple and natural as shooting a video.</p> |
|
|
| --- |
|
|
| ## 📋 Contents |
| - [📦 How to Use the Dataset](#📦-how-to-use-the-dataset) |
| - [📚 Dataset Structure](#📚-dataset-structure) |
| - [License](#license) |
| - [Contact](#contact) |
|
|
|
|
| ## 📦 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](https://opensource.org/licenses/MIT). |
|
|
| ## Contact |
|
|
| For questions or feedback, please reach out to the info@genrobot.com or visit our [website](https://genrobot.ai/). |
