Datasets:
Dataset Viewer
The dataset viewer is not available for this subset.
Cannot get the split names for the config 'default' of the dataset.
Exception: SplitsNotFoundError
Message: The split names could not be parsed from the dataset config.
Traceback: Traceback (most recent call last):
File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 286, in get_dataset_config_info
for split_generator in builder._split_generators(
~~~~~~~~~~~~~~~~~~~~~~~~~^
StreamingDownloadManager(base_path=builder.base_path, download_config=download_config)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
)
^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/hdf5/hdf5.py", line 49, in _split_generators
import h5py
ModuleNotFoundError: No module named 'h5py'
The above exception was the direct cause of the following exception:
Traceback (most recent call last):
File "/src/services/worker/src/worker/job_runners/config/split_names.py", line 66, in compute_split_names_from_streaming_response
for split in get_dataset_split_names(
~~~~~~~~~~~~~~~~~~~~~~~^
path=dataset,
^^^^^^^^^^^^^
config_name=config,
^^^^^^^^^^^^^^^^^^^
token=hf_token,
^^^^^^^^^^^^^^^
)
^
File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 340, in get_dataset_split_names
info = get_dataset_config_info(
path,
...<6 lines>...
**config_kwargs,
)
File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 291, in get_dataset_config_info
raise SplitsNotFoundError("The split names could not be parsed from the dataset config.") from err
datasets.inspect.SplitsNotFoundError: The split names could not be parsed from the dataset config.Need help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
evButtonPush — 260427-01 (Isaac Sim, OMY, v2 task)
Isaac Sim에서 OMY (open_manipulator_Y + RH-P12-RN gripper) 로봇이 엘리베이터 hall call button을 누르는 50개 demo.
Task: RobotisLab-CallButton-Right-OMY-v2.
변경점 (이전 collect 대비)
- Hall exterior에 wall geometry를 추가해 카메라(특히
cam_top,cam_belly)에 빈 흰 배경이 잡히지 않도록 보강.
수집 조건
- 카메라 3대, 1920×1200 RGB, 60 Hz 기록
- 데모당 평균 ~890 frame (≈ 15 sec)
- 매 demo 랜덤화:
- elevator outer 위치 ±10cm (X/Y/Z)
- 로봇 standoff
U(0.55, 0.65) m - 로봇 좌우 lateral
U(-0.05, 0.05) m - seed = 0 ~ 49 (단, seed=49는 success 실패하여 seed=50으로 대체)
파일
| 파일 | 데모 수 | 크기 | 비고 |
|---|---|---|---|
callbutton_demos_first49.hdf5 |
49 | 55.1 GB | seed 0~48 (seed=49 failed) |
callbutton_demo_50.hdf5 |
1 | 1.08 GB | seed=50 (대체) |
총 50 demo, 모두 success termination (pressed=True ∧ led_lit=True ∧ door_open=True ∧ home_reached=True).
HDF5 구조
data/demo_<i>/
actions (T, 7) # 6-DoF arm delta + gripper scalar
processed_actions (T, 10) # joint position commands sent to sim
obs/
cam_wrist (T, 1200, 1920, 3) uint8
cam_top (T, 1200, 1920, 3) uint8
cam_belly (T, 1200, 1920, 3) uint8
eef_pos (T, 3)
eef_quat (T, 4)
joint_pos (T, 10)
joint_vel (T, 10)
call_button_pos (T, 3)
call_button_lit (T, 1)
rel_ee_call_button_distance (T, 3)
actions (T, 7)
states/articulation/robot/{joint_position, joint_velocity, root_pose, root_velocity} (T, ...)
states/rigid_object/pedestal/{root_pose, root_velocity} (T, ...)
initial_state/... # 동일 구조, shape (1, ...)
T는 demo별 길이 (838~939 frame).
알려진 caveat
- 첫 30~60 frame (스폰 직후 wobble 구간)은 base teleport로 인해 약간의 진동이 포함되어 있음. 학습 전 trim 권장.
cam_belly는 시야 일부가 그리퍼 fingers로 가려질 수 있음 (의도된 occlusion).
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