Dataset Preview
The full dataset viewer is not available (click to read why). Only showing a preview of the rows.
The dataset generation failed
Error code: DatasetGenerationError
Exception: CastError
Message: Couldn't cast
robot: string
cameras: struct<camera1: string, camera2: string, camera3: string>
child 0, camera1: string
child 1, camera2: string
child 2, camera3: string
camera_resolution: list<item: int64>
child 0, item: int64
control_hz: int64
tcp_orientation_axis_angle: list<item: double>
child 0, item: double
workspace_trapezoid: struct<y_range: list<item: double>, x_halfwidth_at_y_min: double, x_halfwidth_at_y_max: double>
child 0, y_range: list<item: double>
child 0, item: double
child 1, x_halfwidth_at_y_min: double
child 2, x_halfwidth_at_y_max: double
episodes: int64
task: string
instruction: string
description: string
objects: list<item: string>
child 0, item: string
gripper_modes: string
lighting_split: struct<light: string, dark: string, note: string>
child 0, light: string
child 1, dark: string
child 2, note: string
start: struct<cup: list<item: double>, block: list<item: double>>
child 0, cup: list<item: double>
child 0, item: double
child 1, block: list<item: double>
child 0, item: double
end: struct<cup: list<item: double>, block: list<item: double>>
child 0, cup: list<item: double>
child 0, item: double
child 1, block: list<item: double>
child 0, item: double
init_pose: list<item: double>
child 0, item: double
lighting: string
episode: int64
to
{'task': Value('string'), 'episode': Value('int64'), 'start': {'cup': List(Value('float64')), 'block': List(Value('float64'))}, 'end': {'cup': List(Value('float64')), 'block': List(Value('float64'))}, 'init_pose': List(Value('float64')), 'lighting': Value('string')}
because column names don't match
Traceback: Traceback (most recent call last):
File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1816, in _prepare_split_single
for key, table in generator:
^^^^^^^^^
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 613, in wrapped
for item in generator(*args, **kwargs):
~~~~~~~~~^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 343, in _generate_tables
self._cast_table(pa_table, json_field_paths=json_field_paths),
~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 132, in _cast_table
pa_table = table_cast(pa_table, self.info.features.arrow_schema)
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2369, in table_cast
return cast_table_to_schema(table, schema)
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2297, in cast_table_to_schema
raise CastError(
...<3 lines>...
)
datasets.table.CastError: Couldn't cast
robot: string
cameras: struct<camera1: string, camera2: string, camera3: string>
child 0, camera1: string
child 1, camera2: string
child 2, camera3: string
camera_resolution: list<item: int64>
child 0, item: int64
control_hz: int64
tcp_orientation_axis_angle: list<item: double>
child 0, item: double
workspace_trapezoid: struct<y_range: list<item: double>, x_halfwidth_at_y_min: double, x_halfwidth_at_y_max: double>
child 0, y_range: list<item: double>
child 0, item: double
child 1, x_halfwidth_at_y_min: double
child 2, x_halfwidth_at_y_max: double
episodes: int64
task: string
instruction: string
description: string
objects: list<item: string>
child 0, item: string
gripper_modes: string
lighting_split: struct<light: string, dark: string, note: string>
child 0, light: string
child 1, dark: string
child 2, note: string
start: struct<cup: list<item: double>, block: list<item: double>>
child 0, cup: list<item: double>
child 0, item: double
child 1, block: list<item: double>
child 0, item: double
end: struct<cup: list<item: double>, block: list<item: double>>
child 0, cup: list<item: double>
child 0, item: double
child 1, block: list<item: double>
child 0, item: double
init_pose: list<item: double>
child 0, item: double
lighting: string
episode: int64
to
{'task': Value('string'), 'episode': Value('int64'), 'start': {'cup': List(Value('float64')), 'block': List(Value('float64'))}, 'end': {'cup': List(Value('float64')), 'block': List(Value('float64'))}, 'init_pose': List(Value('float64')), 'lighting': Value('string')}
because column names don't match
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/parquet_and_info.py", line 1369, in compute_config_parquet_and_info_response
parquet_operations, partial, estimated_dataset_info = stream_convert_to_parquet(
~~~~~~~~~~~~~~~~~~~~~~~~~^
builder, max_dataset_size_bytes=max_dataset_size_bytes
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
)
^
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 948, in stream_convert_to_parquet
builder._prepare_split(split_generator=splits_generators[split], file_format="parquet")
~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1683, in _prepare_split
for job_id, done, content in self._prepare_split_single(
~~~~~~~~~~~~~~~~~~~~~~~~~~^
gen_kwargs=gen_kwargs, job_id=job_id, **_prepare_split_args
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
):
^
File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1869, in _prepare_split_single
raise DatasetGenerationError("An error occurred while generating the dataset") from e
datasets.exceptions.DatasetGenerationError: An error occurred while generating the datasetNeed help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
task string | episode int64 | start dict | end dict | init_pose list | lighting string |
|---|---|---|---|---|---|
hide_block_with_cup | 1 | {
"cup": [
0.0881,
0.7898
],
"block": [
0.0752,
0.5596
]
} | {
"cup": [
0.0752,
0.5596
],
"block": [
0.0752,
0.5596
]
} | [
-0.10005546641400156,
0.6257268433309449,
0.3228372275299681
] | light |
hide_block_with_cup | 10 | {
"cup": [
-0.011666706122806222,
0.5445893333367872
],
"block": [
0.08812489256104383,
0.7738376416155526
]
} | {
"cup": [
0.08812489256104383,
0.7738376416155526
],
"block": [
0.08812489256104383,
0.7738376416155526
]
} | [
0.10645819899068895,
0.5158671206475777,
0.37873265582038096
] | light |
hide_block_with_cup | 100 | {
"cup": [
0.09773675265388901,
0.5189277189877745
],
"block": [
0.06261242538506501,
0.7352634437512214
]
} | {
"cup": [
0.06261242538506501,
0.7352634437512214
],
"block": [
0.06261242538506501,
0.7352634437512214
]
} | [
0.049068779756114844,
0.606795958175153,
0.36344797258806516
] | dark |
hide_block_with_cup | 101 | {
"cup": [
-0.0719368430748335,
0.546892882221252
],
"block": [
0.15009556153379305,
0.7745893671217804
]
} | {
"cup": [
0.15009556153379305,
0.7745893671217804
],
"block": [
0.15009556153379305,
0.7745893671217804
]
} | [
-0.10540519058516062,
0.46539493044359226,
0.3667280310562701
] | dark |
hide_block_with_cup | 102 | {
"cup": [
-0.03799570599383678,
0.6502113395309668
],
"block": [
0.12836954448793952,
0.7833266247861574
]
} | {
"cup": [
0.12836954448793952,
0.7833266247861574
],
"block": [
0.12836954448793952,
0.7833266247861574
]
} | [
-0.06050431142311048,
0.6001605749925841,
0.29969477512572573
] | dark |
hide_block_with_cup | 103 | {
"cup": [
-0.15983380459135585,
0.7646725949640587
],
"block": [
-0.007168685089778554,
0.5959776127568007
]
} | {
"cup": [
-0.007168685089778554,
0.5959776127568007
],
"block": [
-0.007168685089778554,
0.5959776127568007
]
} | [
-0.06420746303422832,
0.48512741109202623,
0.39388566470490993
] | dark |
hide_block_with_cup | 104 | {
"cup": [
-0.032112275619899655,
0.7985337145224014
],
"block": [
-0.10409292945613537,
0.5902650995851402
]
} | {
"cup": [
-0.10409292945613537,
0.5902650995851402
],
"block": [
-0.10409292945613537,
0.5902650995851402
]
} | [
-0.09436184889362884,
0.5668478308880497,
0.38546748382229157
] | dark |
hide_block_with_cup | 105 | {
"cup": [
0.10255826514678174,
0.6263971943933038
],
"block": [
-0.07048854935889914,
0.7333051516141961
]
} | {
"cup": [
-0.07048854935889914,
0.7333051516141961
],
"block": [
-0.07048854935889914,
0.7333051516141961
]
} | [
-0.13331705312251715,
0.4932576888484559,
0.25834056559188523
] | dark |
hide_block_with_cup | 106 | {
"cup": [
-0.09745829748413594,
0.5072881161747855
],
"block": [
0.12067432016746132,
0.7731515446581315
]
} | {
"cup": [
0.12067432016746132,
0.7731515446581315
],
"block": [
0.12067432016746132,
0.7731515446581315
]
} | [
-0.0018803206962280383,
0.5301145255279753,
0.36497757516376056
] | dark |
hide_block_with_cup | 107 | {
"cup": [
-0.12084102700044257,
0.796163566986611
],
"block": [
-0.005734719850083572,
0.5435620574317725
]
} | {
"cup": [
-0.005734719850083572,
0.5435620574317725
],
"block": [
-0.005734719850083572,
0.5435620574317725
]
} | [
-0.083231972440243,
0.6220613116392022,
0.29294661199242217
] | dark |
hide_block_with_cup | 108 | {
"cup": [
-0.16637924006414495,
0.7778311845067141
],
"block": [
0.07252680347536875,
0.7436297198067893
]
} | {
"cup": [
0.07252680347536875,
0.7436297198067893
],
"block": [
0.07252680347536875,
0.7436297198067893
]
} | [
-0.13812675627277732,
0.6558837920840451,
0.3413510625357471
] | dark |
hide_block_with_cup | 109 | {
"cup": [
0.03450109061219235,
0.5011471521379169
],
"block": [
0.10337402897851361,
0.7916056130218125
]
} | {
"cup": [
0.10337402897851361,
0.7916056130218125
],
"block": [
0.10337402897851361,
0.7916056130218125
]
} | [
0.030287699547978025,
0.6417328950628974,
0.27283621683488124
] | dark |
hide_block_with_cup | 11 | {
"cup": [
0.07668760747003256,
0.5738579775196944
],
"block": [
0.0878748573549285,
0.7885487714517714
]
} | {
"cup": [
0.0878748573549285,
0.7885487714517714
],
"block": [
0.0878748573549285,
0.7885487714517714
]
} | [
-0.00022833339362410277,
0.6751319055872186,
0.3676374122767515
] | light |
hide_block_with_cup | 110 | {
"cup": [
-0.10387843963381166,
0.675153510103251
],
"block": [
0.1367162353438837,
0.678253928471502
]
} | {
"cup": [
0.1367162353438837,
0.678253928471502
],
"block": [
0.1367162353438837,
0.678253928471502
]
} | [
-0.13744102557988436,
0.48938118968768185,
0.3871690134320165
] | dark |
hide_block_with_cup | 111 | {
"cup": [
-0.007465803752225178,
0.5088173965315541
],
"block": [
0.14948939573866207,
0.7956007121798795
]
} | {
"cup": [
0.14948939573866207,
0.7956007121798795
],
"block": [
0.14948939573866207,
0.7956007121798795
]
} | [
-0.0637285617874303,
0.5857653754150685,
0.27524131817889813
] | dark |
hide_block_with_cup | 112 | {
"cup": [
0.07410629597415469,
0.5462774465318744
],
"block": [
-0.013923349851751948,
0.7271324484948136
]
} | {
"cup": [
-0.013923349851751948,
0.7271324484948136
],
"block": [
-0.013923349851751948,
0.7271324484948136
]
} | [
0.03546511350624995,
0.5907986844814512,
0.3846030924276507
] | dark |
hide_block_with_cup | 113 | {
"cup": [
-0.04242818721013718,
0.5154639729613668
],
"block": [
-0.06397781835702025,
0.7903127929143681
]
} | {
"cup": [
-0.06397781835702025,
0.7903127929143681
],
"block": [
-0.06397781835702025,
0.7903127929143681
]
} | [
0.055925294269160264,
0.6515303443662546,
0.2668256746413355
] | dark |
hide_block_with_cup | 114 | {
"cup": [
0.12775673019336162,
0.606425884304273
],
"block": [
-0.09333376601372928,
0.55166555504283
]
} | {
"cup": [
-0.09333376601372928,
0.55166555504283
],
"block": [
-0.09333376601372928,
0.55166555504283
]
} | [
-0.06907683498134205,
0.6911905269352848,
0.2915835688697836
] | dark |
hide_block_with_cup | 115 | {
"cup": [
0.1308490296606984,
0.7632896099064963
],
"block": [
-0.1251416511042145,
0.7531605792824859
]
} | {
"cup": [
-0.1251416511042145,
0.7531605792824859
],
"block": [
-0.1251416511042145,
0.7531605792824859
]
} | [
-0.023265163168723374,
0.6712482631164398,
0.3057272227329865
] | dark |
hide_block_with_cup | 116 | {
"cup": [
0.08887975115685218,
0.6197695269532479
],
"block": [
-0.14670879593375633,
0.7106804472565962
]
} | {
"cup": [
-0.14670879593375633,
0.7106804472565962
],
"block": [
-0.14670879593375633,
0.7106804472565962
]
} | [
0.128864607934029,
0.6313918758271222,
0.37457455071537044
] | dark |
hide_block_with_cup | 117 | {
"cup": [
0.06630728965206883,
0.534813035205447
],
"block": [
0.1409690480385448,
0.7689837661422303
]
} | {
"cup": [
0.1409690480385448,
0.7689837661422303
],
"block": [
0.1409690480385448,
0.7689837661422303
]
} | [
-0.02517179962331599,
0.5050469869066363,
0.3247636227569375
] | dark |
hide_block_with_cup | 118 | {
"cup": [
0.09472981770434524,
0.5450211087162705
],
"block": [
-0.12605944942551672,
0.6887283168655693
]
} | {
"cup": [
-0.12605944942551672,
0.6887283168655693
],
"block": [
-0.12605944942551672,
0.6887283168655693
]
} | [
0.13743591929656337,
0.5874380877953215,
0.32231443917334424
] | dark |
hide_block_with_cup | 119 | {
"cup": [
0.10149084231584404,
0.5684646180631112
],
"block": [
-0.020851585645495024,
0.7712358025076891
]
} | {
"cup": [
-0.020851585645495024,
0.7712358025076891
],
"block": [
-0.020851585645495024,
0.7712358025076891
]
} | [
-0.13143084686163178,
0.6929293623397365,
0.3617899475292778
] | dark |
hide_block_with_cup | 12 | {
"cup": [
-0.05032784654094381,
0.5121240466644962
],
"block": [
-0.021472123048458497,
0.7578603634942037
]
} | {
"cup": [
-0.021472123048458497,
0.7578603634942037
],
"block": [
-0.021472123048458497,
0.7578603634942037
]
} | [
0.11501417400318772,
0.6821571518090892,
0.3524385761721443
] | light |
hide_block_with_cup | 120 | {
"cup": [
-0.05153210416827055,
0.5155471838443832
],
"block": [
0.009305904659951736,
0.7575180973999223
]
} | {
"cup": [
0.009305904659951736,
0.7575180973999223
],
"block": [
0.009305904659951736,
0.7575180973999223
]
} | [
-0.01350704683492479,
0.5477380858500278,
0.3630938872045604
] | dark |
hide_block_with_cup | 13 | {
"cup": [
-0.08699437150404844,
0.5017008711310553
],
"block": [
0.09539928959829558,
0.760661143415629
]
} | {
"cup": [
0.09539928959829558,
0.760661143415629
],
"block": [
0.09539928959829558,
0.760661143415629
]
} | [
-0.007958769573721686,
0.5651956485153984,
0.3081721689023269
] | light |
hide_block_with_cup | 14 | {
"cup": [
0.013437652078660753,
0.574342926818375
],
"block": [
0.021271548152487163,
0.793391604174821
]
} | {
"cup": [
0.021271548152487163,
0.793391604174821
],
"block": [
0.021271548152487163,
0.793391604174821
]
} | [
-0.08266665993043429,
0.5434626853436354,
0.33684039330623994
] | light |
hide_block_with_cup | 15 | {
"cup": [
-0.06506440913358014,
0.5772194970408152
],
"block": [
0.16396843731940733,
0.798277199064566
]
} | {
"cup": [
0.16396843731940733,
0.798277199064566
],
"block": [
0.16396843731940733,
0.798277199064566
]
} | [
-0.10361693981995507,
0.6482774065044687,
0.3371511800684033
] | light |
hide_block_with_cup | 16 | {
"cup": [
-0.08052791191204295,
0.7501439934414168
],
"block": [
-0.021710135586048576,
0.5478488064513944
]
} | {
"cup": [
-0.021710135586048576,
0.5478488064513944
],
"block": [
-0.021710135586048576,
0.5478488064513944
]
} | [
0.04088040859726555,
0.49938000630135665,
0.3322693306942983
] | light |
hide_block_with_cup | 17 | {
"cup": [
-0.06159029057214664,
0.7978985152203935
],
"block": [
0.11680997801459506,
0.6439656047030521
]
} | {
"cup": [
0.11680997801459506,
0.6439656047030521
],
"block": [
0.11680997801459506,
0.6439656047030521
]
} | [
0.141112200423491,
0.6564489162937578,
0.34739081261091875
] | light |
hide_block_with_cup | 18 | {
"cup": [
-0.08055657458457142,
0.564395735942449
],
"block": [
-0.006770043036336493,
0.7997790910920357
]
} | {
"cup": [
-0.006770043036336493,
0.7997790910920357
],
"block": [
-0.006770043036336493,
0.7997790910920357
]
} | [
-0.06209470972530011,
0.5163717092914613,
0.2768363907848381
] | light |
hide_block_with_cup | 19 | {
"cup": [
-0.040400130548167185,
0.6003684987714636
],
"block": [
-0.15011736754591873,
0.7811866207414773
]
} | {
"cup": [
-0.15011736754591873,
0.7811866207414773
],
"block": [
-0.15011736754591873,
0.7811866207414773
]
} | [
-0.04431569478460949,
0.5572106603162919,
0.30487680169597653
] | light |
hide_block_with_cup | 2 | {
"cup": [
-0.09662747384268686,
0.757542096754464
],
"block": [
0.11211957842797504,
0.7578326946442355
]
} | {
"cup": [
0.11211957842797504,
0.7578326946442355
],
"block": [
0.11211957842797504,
0.7578326946442355
]
} | [
0.0019268246215666807,
0.5194226823490575,
0.297560751496884
] | light |
hide_block_with_cup | 20 | {
"cup": [
0.0659216241222722,
0.695083137589539
],
"block": [
-0.005718435260785873,
0.507389739728863
]
} | {
"cup": [
-0.005718435260785873,
0.507389739728863
],
"block": [
-0.005718435260785873,
0.507389739728863
]
} | [
0.023762118929252785,
0.6582785947485218,
0.27268790698194456
] | light |
hide_block_with_cup | 21 | {
"cup": [
-0.11730952522208411,
0.7962702488185922
],
"block": [
-0.011718178551608907,
0.5283818446162708
]
} | {
"cup": [
-0.011718178551608907,
0.5283818446162708
],
"block": [
-0.011718178551608907,
0.5283818446162708
]
} | [
-0.07019040474378019,
0.6806582216573726,
0.25081099111025645
] | light |
hide_block_with_cup | 22 | {
"cup": [
-0.10529932814840405,
0.7614196445280559
],
"block": [
0.13530255236434297,
0.6394265441636757
]
} | {
"cup": [
0.13530255236434297,
0.6394265441636757
],
"block": [
0.13530255236434297,
0.6394265441636757
]
} | [
-0.14350385091239423,
0.5520232053849898,
0.3583385148114286
] | light |
hide_block_with_cup | 23 | {
"cup": [
-0.08224071444085193,
0.7488152943649136
],
"block": [
0.06267264268118204,
0.5116101332535433
]
} | {
"cup": [
0.06267264268118204,
0.5116101332535433
],
"block": [
0.06267264268118204,
0.5116101332535433
]
} | [
0.02008872986112084,
0.49614134341563415,
0.3725988322188681
] | light |
hide_block_with_cup | 24 | {
"cup": [
0.11883747608367204,
0.7788256842435912
],
"block": [
-0.06582654594362317,
0.5596966444476233
]
} | {
"cup": [
-0.06582654594362317,
0.5596966444476233
],
"block": [
-0.06582654594362317,
0.5596966444476233
]
} | [
0.036472864314222114,
0.504589069324671,
0.29667818399129
] | light |
hide_block_with_cup | 25 | {
"cup": [
0.12688578948250406,
0.642517602947937
],
"block": [
-0.07638306577883215,
0.7621080316459181
]
} | {
"cup": [
-0.07638306577883215,
0.7621080316459181
],
"block": [
-0.07638306577883215,
0.7621080316459181
]
} | [
0.12082724370193557,
0.5207107840980272,
0.36385017281709614
] | light |
hide_block_with_cup | 26 | {
"cup": [
0.12261151243229737,
0.6412213134560617
],
"block": [
-0.11722707864834861,
0.6440415083416362
]
} | {
"cup": [
-0.11722707864834861,
0.6440415083416362
],
"block": [
-0.11722707864834861,
0.6440415083416362
]
} | [
0.003989957584799614,
0.625272907186039,
0.3740350444927997
] | light |
hide_block_with_cup | 27 | {
"cup": [
0.11852324416276153,
0.6215597086593722
],
"block": [
-0.09431421836646547,
0.6467774082562426
]
} | {
"cup": [
-0.09431421836646547,
0.6467774082562426
],
"block": [
-0.09431421836646547,
0.6467774082562426
]
} | [
-0.14609722754066828,
0.5725124923880129,
0.3601971925354925
] | light |
hide_block_with_cup | 28 | {
"cup": [
0.11041219260462898,
0.786416905154526
],
"block": [
-0.03818281451656355,
0.5341933850529547
]
} | {
"cup": [
-0.03818281451656355,
0.5341933850529547
],
"block": [
-0.03818281451656355,
0.5341933850529547
]
} | [
-0.036104863657948766,
0.5381963238286829,
0.3530092235207072
] | light |
hide_block_with_cup | 29 | {
"cup": [
0.14160443658398247,
0.7104849576081347
],
"block": [
-0.0822291419925634,
0.580558462618594
]
} | {
"cup": [
-0.0822291419925634,
0.580558462618594
],
"block": [
-0.0822291419925634,
0.580558462618594
]
} | [
0.10630218172779146,
0.5298875809930009,
0.28984249454627886
] | light |
hide_block_with_cup | 3 | {
"cup": [
-0.08837951194551924,
0.6083460895196487
],
"block": [
0.10776292210184849,
0.5601166559518267
]
} | {
"cup": [
0.10776292210184849,
0.5601166559518267
],
"block": [
0.10776292210184849,
0.5601166559518267
]
} | [
0.06896689239359138,
0.6868084991674888,
0.39843708081871243
] | light |
hide_block_with_cup | 30 | {
"cup": [
0.13099722413289017,
0.6556877111676337
],
"block": [
-0.07261790353869148,
0.5974194828432957
]
} | {
"cup": [
-0.07261790353869148,
0.5974194828432957
],
"block": [
-0.07261790353869148,
0.5974194828432957
]
} | [
0.14407743626326894,
0.5500538552455576,
0.2875960532027087
] | light |
hide_block_with_cup | 31 | {
"cup": [
0.028282819346169774,
0.7870051042835594
],
"block": [
-0.04670575323249602,
0.5161259357407166
]
} | {
"cup": [
-0.04670575323249602,
0.5161259357407166
],
"block": [
-0.04670575323249602,
0.5161259357407166
]
} | [
0.14348913592430254,
0.5933069047769067,
0.33386730629930494
] | light |
hide_block_with_cup | 32 | {
"cup": [
-0.07127008493198733,
0.7714960080862427
],
"block": [
-0.09917801963625554,
0.5472171165136117
]
} | {
"cup": [
-0.09917801963625554,
0.5472171165136117
],
"block": [
-0.09917801963625554,
0.5472171165136117
]
} | [
0.02988022191050488,
0.5433934461275385,
0.38797520669113605
] | light |
hide_block_with_cup | 33 | {
"cup": [
0.04530655991379712,
0.7627113507415187
],
"block": [
0.11636129812928565,
0.574835468999221
]
} | {
"cup": [
0.11636129812928565,
0.574835468999221
],
"block": [
0.11636129812928565,
0.574835468999221
]
} | [
-0.11064828475556501,
0.4989735400519638,
0.3470615638259197
] | light |
hide_block_with_cup | 34 | {
"cup": [
-0.10692886113816247,
0.5429948928499407
],
"block": [
0.0814032738697831,
0.78764763779848
]
} | {
"cup": [
0.0814032738697831,
0.78764763779848
],
"block": [
0.0814032738697831,
0.78764763779848
]
} | [
-0.12954451892422653,
0.4840648015354619,
0.3138549323237115
] | light |
hide_block_with_cup | 35 | {
"cup": [
0.06951021067854603,
0.5447720057692482
],
"block": [
0.10228156685680359,
0.7803399159819058
]
} | {
"cup": [
0.10228156685680359,
0.7803399159819058
],
"block": [
0.10228156685680359,
0.7803399159819058
]
} | [
-0.10481939153790387,
0.48302706039986854,
0.2718951300701185
] | light |
hide_block_with_cup | 36 | {
"cup": [
-0.1060077143892851,
0.640563884830716
],
"block": [
0.11641332549549988,
0.6871598602864452
]
} | {
"cup": [
0.11641332549549988,
0.6871598602864452
],
"block": [
0.11641332549549988,
0.6871598602864452
]
} | [
0.013160849008812064,
0.5620439562158741,
0.3394925686170311
] | light |
hide_block_with_cup | 37 | {
"cup": [
-0.08376737024337624,
0.5187280516347177
],
"block": [
0.08675245361445127,
0.700236423167679
]
} | {
"cup": [
0.08675245361445127,
0.700236423167679
],
"block": [
0.08675245361445127,
0.700236423167679
]
} | [
0.07020264890684624,
0.6036899510001366,
0.26266441278239766
] | light |
hide_block_with_cup | 38 | {
"cup": [
-0.09670494334669458,
0.6079487248573456
],
"block": [
0.10778157600261065,
0.5685887980386413
]
} | {
"cup": [
0.10778157600261065,
0.5685887980386413
],
"block": [
0.10778157600261065,
0.5685887980386413
]
} | [
-0.052289619799128786,
0.6030139622597357,
0.3404556153841766
] | light |
hide_block_with_cup | 39 | {
"cup": [
0.1184357529513457,
0.7959949440889293
],
"block": [
-0.08161854060569694,
0.6587158857382119
]
} | {
"cup": [
-0.08161854060569694,
0.6587158857382119
],
"block": [
-0.08161854060569694,
0.6587158857382119
]
} | [
-0.09293801006404181,
0.6025359932253898,
0.38806892990992714
] | light |
hide_block_with_cup | 4 | {
"cup": [
-0.029060332250330057,
0.765789330782426
],
"block": [
0.09208204701996638,
0.5201920696721143
]
} | {
"cup": [
0.09208204701996638,
0.5201920696721143
],
"block": [
0.09208204701996638,
0.5201920696721143
]
} | [
-0.040130622985537864,
0.49631073023601974,
0.26104407473281876
] | light |
hide_block_with_cup | 40 | {
"cup": [
0.1399704783169785,
0.671253225087985
],
"block": [
-0.06565347471129548,
0.5606471106399331
]
} | {
"cup": [
-0.06565347471129548,
0.5606471106399331
],
"block": [
-0.06565347471129548,
0.5606471106399331
]
} | [
0.11319902845445765,
0.680410663728851,
0.3500643600638128
] | light |
hide_block_with_cup | 41 | {
"cup": [
-0.06297687808037779,
0.7916883245458499
],
"block": [
0.06641491527531584,
0.6299239238685129
]
} | {
"cup": [
0.06641491527531584,
0.6299239238685129
],
"block": [
0.06641491527531584,
0.6299239238685129
]
} | [
-0.09090986239096824,
0.631634397238903,
0.3821338111344835
] | light |
hide_block_with_cup | 42 | {
"cup": [
-0.12100980979563801,
0.715804639848338
],
"block": [
0.031232321190420353,
0.5422831640950789
]
} | {
"cup": [
0.031232321190420353,
0.5422831640950789
],
"block": [
0.031232321190420353,
0.5422831640950789
]
} | [
-0.039748920213745,
0.560984619510158,
0.26217947948142933
] | light |
hide_block_with_cup | 43 | {
"cup": [
-0.10923857372796511,
0.7420764319529705
],
"block": [
0.08864922767724212,
0.615466378087494
]
} | {
"cup": [
0.08864922767724212,
0.615466378087494
],
"block": [
0.08864922767724212,
0.615466378087494
]
} | [
0.12977761547762226,
0.5782447447193025,
0.39799023954341406
] | light |
hide_block_with_cup | 44 | {
"cup": [
-0.12343581458474351,
0.6777650922609371
],
"block": [
0.07817173314532871,
0.7180073538998492
]
} | {
"cup": [
0.07817173314532871,
0.7180073538998492
],
"block": [
0.07817173314532871,
0.7180073538998492
]
} | [
0.0917189876251398,
0.678700220635404,
0.3421965331510919
] | light |
hide_block_with_cup | 45 | {
"cup": [
-0.12824486122520884,
0.7577567710725752
],
"block": [
0.08397721120920523,
0.7092146784012955
]
} | {
"cup": [
0.08397721120920523,
0.7092146784012955
],
"block": [
0.08397721120920523,
0.7092146784012955
]
} | [
-0.04562268259868903,
0.6455283723082753,
0.29855006820433394
] | light |
hide_block_with_cup | 46 | {
"cup": [
-0.10238912467793815,
0.5392723071871437
],
"block": [
-0.014954447227258999,
0.7778204322006731
]
} | {
"cup": [
-0.014954447227258999,
0.7778204322006731
],
"block": [
-0.014954447227258999,
0.7778204322006731
]
} | [
-0.028036400905224634,
0.5782924074315012,
0.3436130216504903
] | light |
hide_block_with_cup | 47 | {
"cup": [
0.13114044791102714,
0.6186649575613934
],
"block": [
-0.12971431816613382,
0.7221359428753296
]
} | {
"cup": [
-0.12971431816613382,
0.7221359428753296
],
"block": [
-0.12971431816613382,
0.7221359428753296
]
} | [
-0.034409608726253135,
0.6805824215495277,
0.36073504792517774
] | light |
hide_block_with_cup | 48 | {
"cup": [
0.09608155953607558,
0.6346885651850581
],
"block": [
-0.087482378314937,
0.718894973754642
]
} | {
"cup": [
-0.087482378314937,
0.718894973754642
],
"block": [
-0.087482378314937,
0.718894973754642
]
} | [
0.05441689852083509,
0.48129142364161615,
0.29276099615806217
] | light |
hide_block_with_cup | 49 | {
"cup": [
0.11781837032033153,
0.588390357632123
],
"block": [
-0.16043558775639302,
0.756830889501861
]
} | {
"cup": [
-0.16043558775639302,
0.756830889501861
],
"block": [
-0.16043558775639302,
0.756830889501861
]
} | [
0.06282633712178726,
0.6776198360042374,
0.3896136818814816
] | light |
hide_block_with_cup | 5 | {
"cup": [
-0.006374359891373721,
0.7162798714306897
],
"block": [
-0.09661144578338826,
0.5188342147444992
]
} | {
"cup": [
-0.09661144578338826,
0.5188342147444992
],
"block": [
-0.09661144578338826,
0.5188342147444992
]
} | [
-0.005094563085594278,
0.48184194875822056,
0.371349189970381
] | light |
hide_block_with_cup | 50 | {
"cup": [
0.06650742558857885,
0.5887922440356359
],
"block": [
-0.04903153228459686,
0.7785676822548999
]
} | {
"cup": [
-0.04903153228459686,
0.7785676822548999
],
"block": [
-0.04903153228459686,
0.7785676822548999
]
} | [
0.11088755630362243,
0.547641295757795,
0.3073155577403326
] | light |
hide_block_with_cup | 51 | {
"cup": [
0.06395182964977705,
0.6121950554139888
],
"block": [
-0.13300009042536312,
0.6828425819614847
]
} | {
"cup": [
-0.13300009042536312,
0.6828425819614847
],
"block": [
-0.13300009042536312,
0.6828425819614847
]
} | [
-0.01125266265665914,
0.6033472407097116,
0.30094610205811356
] | light |
hide_block_with_cup | 52 | {
"cup": [
0.08097265328393605,
0.5848863871610206
],
"block": [
-0.06688885215755867,
0.7914228220060932
]
} | {
"cup": [
-0.06688885215755867,
0.7914228220060932
],
"block": [
-0.06688885215755867,
0.7914228220060932
]
} | [
0.1351960714610562,
0.521521958089853,
0.31591142278827844
] | light |
hide_block_with_cup | 53 | {
"cup": [
0.01477269387125904,
0.5545770957819723
],
"block": [
-0.12184157423757845,
0.7798117048159217
]
} | {
"cup": [
-0.12184157423757845,
0.7798117048159217
],
"block": [
-0.12184157423757845,
0.7798117048159217
]
} | [
0.1330934427792725,
0.6133404338377102,
0.32764591240741564
] | light |
hide_block_with_cup | 54 | {
"cup": [
0.05099879616472687,
0.5333755245509293
],
"block": [
-0.09830393237696591,
0.6897343773432875
]
} | {
"cup": [
-0.09830393237696591,
0.6897343773432875
],
"block": [
-0.09830393237696591,
0.6897343773432875
]
} | [
-0.008109932630117833,
0.6160169382761045,
0.3688122583519682
] | light |
hide_block_with_cup | 55 | {
"cup": [
0.07643863988375665,
0.5291892106194839
],
"block": [
-0.15157758414651606,
0.7741099242409741
]
} | {
"cup": [
-0.15157758414651606,
0.7741099242409741
],
"block": [
-0.15157758414651606,
0.7741099242409741
]
} | [
0.06026440725059723,
0.6621788415970473,
0.3120312318494396
] | light |
hide_block_with_cup | 56 | {
"cup": [
0.1165348771032784,
0.622069421282452
],
"block": [
-0.1012861568556573,
0.5533308587579284
]
} | {
"cup": [
-0.1012861568556573,
0.5533308587579284
],
"block": [
-0.1012861568556573,
0.5533308587579284
]
} | [
-0.10784390985632059,
0.607579041517579,
0.29925651871638453
] | light |
hide_block_with_cup | 57 | {
"cup": [
0.08771307003289053,
0.749229204111094
],
"block": [
-0.08379282522595786,
0.5652471126428639
]
} | {
"cup": [
-0.08379282522595786,
0.5652471126428639
],
"block": [
-0.08379282522595786,
0.5652471126428639
]
} | [
-0.04964289980786166,
0.5004169398929595,
0.3093516192479574
] | light |
hide_block_with_cup | 58 | {
"cup": [
0.11220510479042942,
0.625533386757523
],
"block": [
-0.052264482929076046,
0.5037556438812687
]
} | {
"cup": [
-0.052264482929076046,
0.5037556438812687
],
"block": [
-0.052264482929076046,
0.5037556438812687
]
} | [
0.06817394570800345,
0.6262421246921585,
0.3634041767109727
] | light |
hide_block_with_cup | 59 | {
"cup": [
0.02785950693037817,
0.7959558140749788
],
"block": [
0.05942342009575763,
0.5081553797303765
]
} | {
"cup": [
0.05942342009575763,
0.5081553797303765
],
"block": [
0.05942342009575763,
0.5081553797303765
]
} | [
0.07945912172424607,
0.45103946471946205,
0.3974147445345193
] | light |
hide_block_with_cup | 6 | {
"cup": [
0.08195152251982898,
0.7185713496699625
],
"block": [
-0.07149905600293427,
0.534408441438612
]
} | {
"cup": [
-0.07149905600293427,
0.534408441438612
],
"block": [
-0.07149905600293427,
0.534408441438612
]
} | [
-0.08480522311557694,
0.5324975251042118,
0.3401535223431753
] | light |
hide_block_with_cup | 60 | {
"cup": [
-0.09530732563702146,
0.706200445988996
],
"block": [
0.12798808182342175,
0.7062597459523636
]
} | {
"cup": [
0.12798808182342175,
0.7062597459523636
],
"block": [
0.12798808182342175,
0.7062597459523636
]
} | [
-0.13764205803528412,
0.4623983782355168,
0.30803130604924245
] | light |
hide_block_with_cup | 61 | {
"cup": [
-0.08387623947125332,
0.5832916150294682
],
"block": [
0.11546173927942832,
0.7458786953283227
]
} | {
"cup": [
0.11546173927942832,
0.7458786953283227
],
"block": [
0.11546173927942832,
0.7458786953283227
]
} | [
0.10147028719678511,
0.45781663116557764,
0.296763772128827
] | light |
hide_block_with_cup | 62 | {
"cup": [
-0.0929215673219352,
0.524879685871201
],
"block": [
-0.01746470021900498,
0.7139268087969302
]
} | {
"cup": [
-0.01746470021900498,
0.7139268087969302
],
"block": [
-0.01746470021900498,
0.7139268087969302
]
} | [
0.11241233477671628,
0.5338834038050234,
0.2578920858172957
] | light |
hide_block_with_cup | 63 | {
"cup": [
0.07076936472711311,
0.5010338616928369
],
"block": [
0.05296632888891897,
0.7412005731212743
]
} | {
"cup": [
0.05296632888891897,
0.7412005731212743
],
"block": [
0.05296632888891897,
0.7412005731212743
]
} | [
0.129456157707225,
0.5559042110427311,
0.31104145771535274
] | light |
hide_block_with_cup | 64 | {
"cup": [
-0.052561598996588466,
0.5073043181194629
],
"block": [
0.12620450481001383,
0.7810916760993555
]
} | {
"cup": [
0.12620450481001383,
0.7810916760993555
],
"block": [
0.12620450481001383,
0.7810916760993555
]
} | [
-0.07651539514096568,
0.49409904532792986,
0.384061927270378
] | light |
hide_block_with_cup | 65 | {
"cup": [
0.043485249440280635,
0.5197864547698297
],
"block": [
-0.1075343699820592,
0.7285345550848792
]
} | {
"cup": [
-0.1075343699820592,
0.7285345550848792
],
"block": [
-0.1075343699820592,
0.7285345550848792
]
} | [
0.09730578809080206,
0.6611902763754678,
0.26855139780614273
] | light |
hide_block_with_cup | 66 | {
"cup": [
0.11936092477839963,
0.7295668883559372
],
"block": [
-0.11769547368442662,
0.6711800784198978
]
} | {
"cup": [
-0.11769547368442662,
0.6711800784198978
],
"block": [
-0.11769547368442662,
0.6711800784198978
]
} | [
0.027759804197407256,
0.49997207535053023,
0.36292053385275136
] | light |
hide_block_with_cup | 67 | {
"cup": [
0.08727466674624788,
0.5616494989372892
],
"block": [
-0.12252656850660373,
0.7533176231972951
]
} | {
"cup": [
-0.12252656850660373,
0.7533176231972951
],
"block": [
-0.12252656850660373,
0.7533176231972951
]
} | [
-0.009746693809465218,
0.5411125326482026,
0.33464434240902746
] | dark |
hide_block_with_cup | 68 | {
"cup": [
0.06279615672975677,
0.5370265054478308
],
"block": [
-0.15254369590052447,
0.7867864390510806
]
} | {
"cup": [
-0.15254369590052447,
0.7867864390510806
],
"block": [
-0.15254369590052447,
0.7867864390510806
]
} | [
0.021085183430210763,
0.4990291296065489,
0.34038689166347347
] | dark |
hide_block_with_cup | 69 | {
"cup": [
0.08945544676971687,
0.6887600006070356
],
"block": [
-0.08911374834586207,
0.5218234519341376
]
} | {
"cup": [
-0.08911374834586207,
0.5218234519341376
],
"block": [
-0.08911374834586207,
0.5218234519341376
]
} | [
0.1441860204073486,
0.45148919528618403,
0.2615706974746456
] | dark |
hide_block_with_cup | 7 | {
"cup": [
0.15422860053849285,
0.7200065726841587
],
"block": [
-0.01281184756330353,
0.5279784342147146
]
} | {
"cup": [
-0.01281184756330353,
0.5279784342147146
],
"block": [
-0.01281184756330353,
0.5279784342147146
]
} | [
-0.0008867302278722233,
0.5866835120986225,
0.3132435571841109
] | light |
hide_block_with_cup | 70 | {
"cup": [
0.06560416056948731,
0.7353017680986308
],
"block": [
-0.15770317987600632,
0.7399377018944238
]
} | {
"cup": [
-0.15770317987600632,
0.7399377018944238
],
"block": [
-0.15770317987600632,
0.7399377018944238
]
} | [
-0.050777447136982026,
0.5590051350884753,
0.291267699397788
] | dark |
hide_block_with_cup | 71 | {
"cup": [
0.06106128825141843,
0.5356533599544023
],
"block": [
-0.0051616724117034,
0.7490561043753299
]
} | {
"cup": [
-0.0051616724117034,
0.7490561043753299
],
"block": [
-0.0051616724117034,
0.7490561043753299
]
} | [
0.13211936793181425,
0.5276669829800744,
0.37145513143323994
] | dark |
hide_block_with_cup | 72 | {
"cup": [
0.08733837549914654,
0.530817739370507
],
"block": [
-0.0447110181853034,
0.7202462158928464
]
} | {
"cup": [
-0.0447110181853034,
0.7202462158928464
],
"block": [
-0.0447110181853034,
0.7202462158928464
]
} | [
0.024347350793711586,
0.5881775812438658,
0.25768359335877394
] | dark |
hide_block_with_cup | 73 | {
"cup": [
0.16807122678783043,
0.7648056714836147
],
"block": [
-0.029419531790924172,
0.5044321619347737
]
} | {
"cup": [
-0.029419531790924172,
0.5044321619347737
],
"block": [
-0.029419531790924172,
0.5044321619347737
]
} | [
0.13598511900477542,
0.5360606185240715,
0.3340327106753659
] | dark |
hide_block_with_cup | 74 | {
"cup": [
-0.07557597399333317,
0.7657482750422875
],
"block": [
-0.045669722809522584,
0.5362469244263549
]
} | {
"cup": [
-0.045669722809522584,
0.5362469244263549
],
"block": [
-0.045669722809522584,
0.5362469244263549
]
} | [
0.11054520153681005,
0.4933608268770204,
0.26348025253332913
] | dark |
hide_block_with_cup | 75 | {
"cup": [
-0.12705396896087742,
0.7605130373088128
],
"block": [
-0.01130564263097357,
0.5396801085398231
]
} | {
"cup": [
-0.01130564263097357,
0.5396801085398231
],
"block": [
-0.01130564263097357,
0.5396801085398231
]
} | [
0.13427254764853888,
0.5968823776517252,
0.2769908353672582
] | dark |
hide_block_with_cup | 76 | {
"cup": [
-0.12727344923551692,
0.7478461459488734
],
"block": [
0.11180369106753171,
0.5672510003182194
]
} | {
"cup": [
0.11180369106753171,
0.5672510003182194
],
"block": [
0.11180369106753171,
0.5672510003182194
]
} | [
-0.1360383475035544,
0.5671218025464753,
0.34248828468634857
] | dark |
hide_block_with_cup | 77 | {
"cup": [
-0.11570326906947564,
0.5598126323285678
],
"block": [
0.10360074269947878,
0.5290966573695333
]
} | {
"cup": [
0.10360074269947878,
0.5290966573695333
],
"block": [
0.10360074269947878,
0.5290966573695333
]
} | [
-0.03236031061042688,
0.5167948081758348,
0.3181441014767239
] | dark |
hide_block_with_cup | 78 | {
"cup": [
0.08484251753352143,
0.7585894640926902
],
"block": [
-0.08680321399071897,
0.608185705298148
]
} | {
"cup": [
-0.08680321399071897,
0.608185705298148
],
"block": [
-0.08680321399071897,
0.608185705298148
]
} | [
-0.09276681797262518,
0.451619377487594,
0.30014439534676446
] | dark |
hide_block_with_cup | 79 | {
"cup": [
0.0904664848494386,
0.5153196747056223
],
"block": [
-0.14687358034073603,
0.7554932822250982
]
} | {
"cup": [
-0.14687358034073603,
0.7554932822250982
],
"block": [
-0.14687358034073603,
0.7554932822250982
]
} | [
0.0801891198526273,
0.4963534325382871,
0.35988502506274234
] | dark |
hide_block_with_cup | 8 | {
"cup": [
-0.09633256489674771,
0.7928831385072824
],
"block": [
-0.012529233584344351,
0.5066208984660296
]
} | {
"cup": [
-0.012529233584344351,
0.5066208984660296
],
"block": [
-0.012529233584344351,
0.5066208984660296
]
} | [
0.08726691425987135,
0.512699997775875,
0.38539402135081335
] | light |
hide_block_with_cup | 80 | {
"cup": [
-0.09200087238344787,
0.5504536703475598
],
"block": [
0.12145871481068593,
0.643082828269821
]
} | {
"cup": [
0.12145871481068593,
0.643082828269821
],
"block": [
0.12145871481068593,
0.643082828269821
]
} | [
-0.003852001722681214,
0.5767702919359599,
0.3442663856243069
] | dark |
End of preview.
Real Robot Manipulation Dataset
Tabletop manipulation tasks recorded on a UR5e with a Robotiq 2F-140
gripper. Most tasks use two Intel RealSense cameras (fixed base + wrist-mounted);
the newest hide_block_with_cup task adds a third (opposite-side counter view).
All recordings at 20 Hz.
Tasks
| Folder | Eps | Cameras | Instruction |
|---|---|---|---|
put_blocks_in_plate |
100 | 2 | Pick two blocks from the table and place them on the plate. |
remove_blocks_from_plate |
100 | 2 | Pick two blocks off the plate and place them on the table. |
hide_blocks_with_bowl |
100 | 2 | Pair the two blocks together and cover them with the bowl. |
remove_blocks_under_bowl |
100 | 2 | Uncover the hidden blocks and spread the three objects out. |
hide_blocks_with_cup |
100 | 2 | Cover each block with an upside-down cup. |
put_blocks_on_cup |
100 | 2 | Lift each cup off a block and stack the block on top of the cup. |
put_blocks_down |
100 | 2 | Take the blocks off the cups and place them on the table. |
hide_block_with_cup |
120 | 3 | Cover the block with the upside-down cup. (eps 1-66 light, 67-120 dark) |
Each task folder includes a task_instruction.json with the full task spec
(objects, pick/place strategies, gripper modes, workspace bounds).
hide_block_with_cup specifics: single-task variant (1 cup + 1 block).
Recording captures only the cup-pick + cup-place motion; the
inter-episode object randomization is not recorded. A 3rd camera
(camera3, oppo-countertop) was added for this task. Per-episode meta.json
includes a lighting field ("light" or "dark") — the room lighting
changed at episode 67.
Layout
<task>/
1.hdf5 ... 100.hdf5 # per-episode trajectories (images + state)
meta/
1/meta.json ... 100/meta.json # per-episode ground truth
task_instruction.json # task spec
HDF5 schema (per episode)
/timestamps (T,) float64
/observations/
images/
camera1 (T,H,W,3) uint8 # base, 640x480 RGB
camera2 (T,H,W,3) uint8 # wrist, 640x480 RGB
camera3 (T,H,W,3) uint8 # (hide_block_with_cup only) oppo-countertop
qpos (T,7) float32 # 6 joints + gripper (norm)
state (T,14) float32 # tcp_pos(3)+tcp_quat(4)+joints(6)+gripper(1)
tcp_pos, tcp_quat, joints, gripper_pos
The HDF5 root attribute num_cameras reports the actual count for that file
(2 for all 7 original tasks, 3 for hide_block_with_cup).
meta.json schema (per episode)
For all tasks the meta contains the per-episode ground-truth object positions:
{
"task": "<task name>",
"episode": <int>,
"start": {<objects>: <(x,y)>, ...},
"end": {<objects>: <(x,y)>, ...},
"init_pose": [x, y, z]
}
Task-specific keys are additionally recorded (e.g. perm and cup_order for
the cup tasks, sign and active/passive for the bowl hide task,
block_order for the bowl/cup remove tasks).
Robot setup
- Robot: UR5e via RTDE
- Gripper: Robotiq 2F-140 (auto-calibrated)
- TCP orientation: pointing straight down (axis-angle
[π, 0, 0]) - Cameras: 2× Intel RealSense, 640×480 @ 20 Hz
- Workspace: trapezoid with
y ∈ [0.50, 0.80]andxhalf-width0.10 → 0.18(linearly with y)
Per-task episode counts
| Task | Episodes | Frames (~) | Wall-clock (~) |
|---|---|---|---|
| put_blocks_in_plate | 100 | 45,576 | 38 min |
| remove_blocks_from_plate | 100 | 45,929 | 38 min |
| hide_blocks_with_bowl | 100 | 43,881 | 37 min |
| remove_blocks_under_bowl | 100 | 66,090 | 55 min |
| hide_blocks_with_cup | 100 | (~varies) | ~40 min |
| put_blocks_on_cup | 100 | (~varies) | ~50 min |
| put_blocks_down | 100 | (~varies) | ~30 min |
License
Apache 2.0.
- Downloads last month
- 57,187