H&R

Dataset of paper Human2Robot: Learning Robot Actions from Paired Human-Robot Videos

Data Details

/cam_data
- /human_camera: obs of human
- /robot_camera: obs of robot
/end_position: eef 6-dof position, [x, y, z, roll, pitch, yaw] represent position and orientation, where the rotation is expressed in Euler angles (degrees) with the order XYZ.
/gripper_state: 0/1, 1 for gripper open，0 for close
/action: This attribute is not available in version v0, but is introduced in version v1. It represents the spatial pose of the human hand in the robot frame. It is a 7-DOF vector consisting of [x, y, z, roll, pitch, yaw, gripper].
qpos: Joint angles of the robot arm
qvel: Joint velocity of the robot arm

data
- v0: The older version of the dataset. /end_position together with /gripper_state can be used as the action.
- v1: In addition to the contents included in v0, there is an additional /action entry.

python show_video.py --file_path /path/to/the/file