RobotisAI/evButtonPush-260429-01-hdf5

这是一个用于电梯呼叫按钮按压任务的模仿学习演示数据集，使用ROBOTIS OMY 6-DoF机械臂在Isaac Sim 5.1 + Isaac Lab环境中通过脚本教师（DLS-IK + 力反馈）自动收集。数据集包含40个演示，每个演示约568帧，总帧数约22,720帧，动作/观察速率为30 Hz。图像分辨率为1920 × 1200，来自三个摄像头（腕部摄像头、顶部摄像头和腹部摄像头）。动作空间为7维（6个机械臂关节 + 1个二进制夹持器）。数据集以HDF5格式存储，包含动作、观察状态（如关节位置、末端执行器位置、按钮位置等）和初始状态等信息。所有演示均成功完成按钮按压、LED点亮、门打开和返回起始位置的任务。

Imitation learning demo dataset for elevator call button press task using ROBOTIS OMY 6-DoF arm. Collected automatically via scripted teacher (DLS-IK + force-feedback) in Isaac Sim 5.1 + Isaac Lab. The dataset contains 40 demos, each with approximately 568 frames, totaling ~22,720 frames. The action/observation rate is 30 Hz. Image resolution is 1920 × 1200 from three cameras (wrist cam, top cam, belly cam). The action space is 7-dim (6 arm joints + 1 binary gripper). The dataset is stored in HDF5 format, containing actions, observations (e.g., joint positions, end-effector positions, button positions, etc.), and initial states. All demos successfully completed the task of button press, LED lit, door opened, and returning to home position.