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HumanAndRobot

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- ---
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- license: mit
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- ---
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ # H&R
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+ > Dataset of paper [Human2Robot: Learning Robot Actions from Paired Human-Robot Videos](https://arxiv.org/abs/2502.16587)
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+
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+ ## Data Details
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+ - /cam_data
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+ - /human_camera: obs of human
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+ - /robot_camera: obs of robot
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+ - /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.
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+ - /gripper_state: 0/1, 1 for gripper open，0 for close
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+ - /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].
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+ - qpos: Joint angles of the robot arm
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+ - qvel: Joint velocity of the robot arm
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+
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+ ## Version
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+ - data
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+ - v0: The older version of the dataset. /end_position together with /gripper_state can be used as the action.
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+ - v1: In addition to the contents included in v0, there is an additional /action entry.
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+
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+ ## Visualization Code
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+ ### Visualization the video of human and robot
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+ ```
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+ python show_video.py --file_path /path/to/the/file
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+ ```
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