dadadadawjb/RealArt-6

RealArt-6数据集是为测试从模拟到现实的转移而收集的官方数据集。它包含6个关节物体实例，每个实例在有无背景和有无干扰物的场景下，从20个相机视角下捕捉的5种状态。数据通过安装在7自由度Franka Emika机械臂上的Intel RealSense L515 LiDAR相机收集。数据集以.npz格式存储，包含点云、RGB信息、关节信息等。

RealArt-6 is the official dataset collected for the RPMArt project to test the sim-to-real transfer. It contains 6 articulated object instances, each captured from 20 camera views under 5 states in scenarios with and without background, as well as presence or absence of distractors. The dataset is structured into two main parts: without_table and with_table, each containing multiple objects (e.g., microwave, refrigerator) with point cloud data in different scenarios and states. The data collection utilizes an Intel RealSense L515 LiDAR camera mounted on a 7-DOF Franka Emika robot arm.