RobotisAI/evButtonPush-260423-01-hdf5

这是一个模拟演示数据集，展示了ROBOTIS OMY 6自由度机械臂在NVIDIA Isaac Sim / Isaac Lab环境中按下电梯呼叫按钮的场景。数据集为v02版本，相比v01版本，它采用了基于物理的成功检测和电梯门有限状态机(FSM)改进。数据集包含45个演示，每个演示约35秒，以30fps的帧率记录，约1050帧。成功标准为物理接触力≥0.5N。数据集还包括电梯门的FSM状态变化、平均接触力峰值、按压目标Z偏移等信息。此外，数据集提供了三个摄像头的配置详情，分别位于机械臂的手腕、顶部和腹部，记录1920×1200分辨率的RGB图像。HDF5文件结构包含动作、观察状态、关节位置、速度等信息。推荐用于模仿学习(如ACT、Diffusion Policy、BC)的训练。Simulated demonstrations of a ROBOTIS OMY 6-DoF arm pressing an elevator call-button, collected in NVIDIA Isaac Sim / Isaac Lab with a scripted IK teacher. This dataset is the v02 collection — improved over v01 with physics-based success detection and elevator-door FSM. It includes 45 demos, each approximately 35 seconds long, recorded at 30fps (~1050 frames). The success criterion is a physical contact force ≥ 0.5N. The dataset also details the elevator door FSM state transitions, average peak contact force, press target Z offset, and more. Three camera configurations are provided, located at the wrist, top, and belly of the arm, recording RGB images at 1920×1200 resolution. The HDF5 layout includes actions, observations, joint positions, velocities, etc. Recommended for imitation learning (e.g., ACT, Diffusion Policy, BC).