- Description:
xArm picking and placing objects
Homepage: --
Source code:
tfds.robotics.rtx.UtokyoXarmPickAndPlaceConvertedExternallyToRlds
Versions:
0.1.0
(default): Initial release.
Download size:
Unknown size
Dataset size:
1.29 GiB
Auto-cached (documentation): No
Splits:
Split | Examples |
---|---|
'train' |
92 |
'val' |
10 |
- Feature structure:
FeaturesDict({
'episode_metadata': FeaturesDict({
'file_path': Text(shape=(), dtype=string),
}),
'steps': Dataset({
'action': Tensor(shape=(7,), dtype=float32, description=Robot action, consists of [3x EEF position, 3x EEF orientation yaw/pitch/roll, 1x gripper open/close position].),
'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({
'end_effector_pose': Tensor(shape=(6,), dtype=float32, description=Robot end effector pose, consists of [3x EEF position, 3x EEF orientation yaw/pitch/roll].),
'hand_image': Image(shape=(224, 224, 3), dtype=uint8, description=Hand camera RGB observation.),
'image': Image(shape=(224, 224, 3), dtype=uint8, description=Main camera RGB observation.),
'image2': Image(shape=(224, 224, 3), dtype=uint8, description=Another camera RGB observation from different view point.),
'joint_state': Tensor(shape=(14,), dtype=float32, description=Robot joint state, consists of [7x robot joint angles, 7x robot joint velocity].),
'joint_trajectory': Tensor(shape=(21,), dtype=float32, description=Robot joint trajectory, consists of [7x robot joint angles, 7x robot joint velocity, 7x robot joint acceralation].),
}),
'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 | (7,) | float32 | Robot action, consists of [3x EEF position, 3x EEF orientation yaw/pitch/roll, 1x gripper open/close position]. |
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/end_effector_pose | Tensor | (6,) | float32 | Robot end effector pose, consists of [3x EEF position, 3x EEF orientation yaw/pitch/roll]. |
steps/observation/hand_image | Image | (224, 224, 3) | uint8 | Hand camera RGB observation. |
steps/observation/image | Image | (224, 224, 3) | uint8 | Main camera RGB observation. |
steps/observation/image2 | Image | (224, 224, 3) | uint8 | Another camera RGB observation from different view point. |
steps/observation/joint_state | Tensor | (14,) | float32 | Robot joint state, consists of [7x robot joint angles, 7x robot joint velocity]. |
steps/observation/joint_trajectory | Tensor | (21,) | float32 | Robot joint trajectory, consists of [7x robot joint angles, 7x robot joint velocity, 7x robot joint acceralation]. |
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): Missing.
Citation:
@misc{matsushima2023weblab,
title={Weblab xArm Dataset},
author={Tatsuya Matsushima and Hiroki Furuta and Yusuke Iwasawa and Yutaka Matsuo},
year={2023},
}