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Error code: ConfigNamesError Exception: DataFilesNotFoundError Message: No (supported) data files found in charlesxu0124/functional-manipulation-benchmark Traceback: Traceback (most recent call last): File "/src/services/worker/src/worker/job_runners/dataset/config_names.py", line 65, in compute_config_names_response get_dataset_config_names( File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/inspect.py", line 347, in get_dataset_config_names dataset_module = dataset_module_factory( File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/load.py", line 1840, in dataset_module_factory raise e1 from None File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/load.py", line 1821, in dataset_module_factory return HubDatasetModuleFactoryWithoutScript( File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/load.py", line 1215, in get_module module_name, default_builder_kwargs = infer_module_for_data_files( File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/load.py", line 591, in infer_module_for_data_files raise DataFilesNotFoundError("No (supported) data files found" + (f" in {path}" if path else "")) datasets.exceptions.DataFilesNotFoundError: No (supported) data files found in charlesxu0124/functional-manipulation-benchmark
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Functional Manipulation Benchmark
This robot learning dataset is a part of the paper "FMB: a Functional Manipulation Benchmark for Generalizable Robotic Learning". It includes 22,550 expert demonstration trajectories across different skills required to solve the Single-Object and Multi-Object Manipulation Tasks presented in the paper.
Link to paper: https://arxiv.org/abs/2401.08553
Link to website: https://functional-manipulation-benchmark.github.io
Dataset Structure
Each zip file contains a folder of trajectories. Each trajectory is saved as a .npy file. Each .npy file contains a dictionary with the following key-value pairs:
obs/side_1
: a (N, 256, 256, 3) numpy array of RGB images from the side camera 1 saved in BGR formatobs/side_2
: a (N, 256, 256, 3) numpy array of RGB images from the side camera 2 saved in BGR formatobs/wrist_1
: a (N, 256, 256, 3) numpy array of RGB images from the wrist camera 1 saved in BGR formatobs/wrist_2
: a (N, 256, 256, 3) numpy array of RGB images from the wrist camera 2 saved in BGR formatobs/side_1_depth
: a (N, 256, 256) numpy array of depth images from the side camera 1obs/side_2_depth
: a (N, 256, 256) numpy array of depth images from the side camera 2obs/wrist_1_depth
: a (N, 256, 256) numpy array of depth images from the wrist camera 1obs/wrist_2_depth
: a (N, 256, 256) numpy array of depth images from the wrist camera 2obs/tcp_pose
: a (N, 7) numpy array of the end effector pose in the robot's base frame (XYZ, Quaternion)obs/tcp_vel
: a (N, 6) numpy array of the end effector velocity in the robot's base frame (XYZ, RPY)obs/tcp_force
: a (N, 3) numpy array of the end-effector force in the robot's end-effector frame (XYZ)obs/tcp_torque
: a (N, 3) numpy array of the end-effector torque in the robot's end-effector frame (RPY)obs/q
: a (N, 7) numpy array of the joint positionsobs/dq
: a (N, 7) numpy array of the joint velocitiesobs/jacobian
: a (N, 6, 7) numpy array of the robot jacobianobs/gripper_pose
: a (N, ) numpy array indicating the binary state of the gripper (0=open, 1=closed)action
: a (N, 7) numpy array of the commanded cartesian action (XYZ, RPY, gripper)primitive
: a (N, ) numpy array of strings indicating the primitive associated with the current timestepobject_id
(Multi-Object only): a (N, ) numpy array of integers indicating the ID of the object being manipulated in the current trajectoryobject_info
(Single-Object only): a dictionary containing information of the object being manipulated in the current trajectory with the following keys-value pairs:length
: length of the object (S=Short, L=Long)size
: cross-sectional size of the object (S=Small, M=Medium, L=Large)shape
: shape ID of the object according to reference sheetcolor
: color ID of the object according to reference sheetangle
: initial pose of the object indicating how it should be grasped and reoriented (horizontal, vertical)distractor
: indicator for whether there are distractor objects (y=yes, n=no)
File Naming
The Single-Object Dataset trajectory files are named as follows:
(insert_only_){shape}_{size}_{length}_{color}_{angle}_{distractor}_{trajectory_id}.npy
The Multi-Object Dataset trajectory files are named as follows:
trajectory_{object_id}_{trajectory_id}.npy
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