- Description:
Franka manipulating ungraspable objects
Homepage: --
Source code:
tfds.robotics.rtx.KaistNonprehensileConvertedExternallyToRlds
Versions:
0.1.0
(default): Initial release.
Download size:
Unknown size
Dataset size:
11.71 GiB
Auto-cached (documentation): No
Splits:
Split | Examples |
---|---|
'train' |
201 |
- Feature structure:
FeaturesDict({
'episode_metadata': FeaturesDict({
'file_path': Text(shape=(), dtype=string),
}),
'steps': Dataset({
'action': Tensor(shape=(20,), dtype=float32, description=Robot action, consists of [3x end-effector position residual, 3x end-effector axis-angle residual, 7x robot joint k_p gain coefficient, 7x robot joint damping ratio coefficient].The action residuals are global, i.e. multiplied on theleft-hand side of the current end-effector state.),
'discount': Scalar(shape=(), dtype=float32, description=Discount if provided, default to 1.),
'is_first': bool,
'is_last': bool,
'is_terminal': bool,
'language_embedding': Tensor(shape=(512,), dtype=float32, description=Kona language embedding. See https://tfhub.dev/google/universal-sentence-encoder-large/5),
'language_instruction': Text(shape=(), dtype=string),
'observation': FeaturesDict({
'image': Image(shape=(480, 640, 3), dtype=uint8, description=Main camera RGB observation.),
'partial_pointcloud': Tensor(shape=(512, 3), dtype=float32, description=Partial pointcloud observation),
'state': Tensor(shape=(21,), dtype=float32, description=Robot state, consists of [joint_states, end_effector_pose].Joint states are 14-dimensional, formatted in the order of [q_0, w_0, q_1, w_0, ...].In other words, joint positions and velocities are interleaved.The end-effector pose is 7-dimensional, formatted in the order of [position, quaternion].The quaternion is formatted in (x,y,z,w) order. The end-effector pose references the tool frame, in the center of the two fingers of the gripper.),
}),
'reward': Scalar(shape=(), dtype=float32, description=Reward if provided, 1 on final step for demos.),
}),
})
- Feature documentation:
Feature | Class | Shape | Dtype | Description |
---|---|---|---|---|
FeaturesDict | ||||
episode_metadata | FeaturesDict | |||
episode_metadata/file_path | Text | string | Path to the original data file. | |
steps | Dataset | |||
steps/action | Tensor | (20,) | float32 | Robot action, consists of [3x end-effector position residual, 3x end-effector axis-angle residual, 7x robot joint k_p gain coefficient, 7x robot joint damping ratio coefficient].The action residuals are global, i.e. multiplied on theleft-hand side of the current end-effector state. |
steps/discount | Scalar | float32 | Discount if provided, default to 1. | |
steps/is_first | Tensor | bool | ||
steps/is_last | Tensor | bool | ||
steps/is_terminal | Tensor | bool | ||
steps/language_embedding | Tensor | (512,) | float32 | Kona language embedding. See https://tfhub.dev/google/universal-sentence-encoder-large/5 |
steps/language_instruction | Text | string | Language Instruction. | |
steps/observation | FeaturesDict | |||
steps/observation/image | Image | (480, 640, 3) | uint8 | Main camera RGB observation. |
steps/observation/partial_pointcloud | Tensor | (512, 3) | float32 | Partial pointcloud observation |
steps/observation/state | Tensor | (21,) | float32 | Robot state, consists of [joint_states, end_effector_pose].Joint states are 14-dimensional, formatted in the order of [q_0, w_0, q_1, w_0, ...].In other words, joint positions and velocities are interleaved.The end-effector pose is 7-dimensional, formatted in the order of [position, quaternion].The quaternion is formatted in (x,y,z,w) order. The end-effector pose references the tool frame, in the center of the two fingers of the gripper. |
steps/reward | Scalar | float32 | Reward if provided, 1 on final step for demos. |
Supervised keys (See
as_supervised
doc):None
Figure (tfds.show_examples): Not supported.
Examples (tfds.as_dataframe):
- Citation:
@article{kimpre,
title={Pre-and post-contact policy decomposition for non-prehensile manipulation with zero-shot sim-to-real transfer},
author={Kim, Minchan and Han, Junhyek and Kim, Jaehyung and Kim, Beomjoon},
booktitle={2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year={2023},
organization={IEEE}
}