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lution1019
/
dexterous-grasping-memory-bank

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The dataset generation failed
Error code:   DatasetGenerationError
Exception:    ValueError
Message:      Expected object or value
Traceback:    Traceback (most recent call last):
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 290, in _generate_tables
                  pa_table = paj.read_json(
                      io.BytesIO(batch), read_options=paj.ReadOptions(block_size=block_size)
                  )
                File "pyarrow/_json.pyx", line 342, in pyarrow._json.read_json
                File "pyarrow/error.pxi", line 155, in pyarrow.lib.pyarrow_internal_check_status
                File "pyarrow/error.pxi", line 92, in pyarrow.lib.check_status
                  raise convert_status(status)
              pyarrow.lib.ArrowInvalid: JSON parse error: Column() changed from object to array in row 0
              
              During handling of the above exception, another exception occurred:
              
              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 304, in _generate_tables
                  batch = json_encode_fields_in_json_lines(original_batch, json_field_paths)
                File "/usr/local/lib/python3.14/site-packages/datasets/utils/json.py", line 111, in json_encode_fields_in_json_lines
                  examples = [ujson_loads(line) for line in original_batch.splitlines()]
                              ~~~~~~~~~~~^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/utils/json.py", line 20, in ujson_loads
                  return pd.io.json.ujson_loads(*args, **kwargs)
                         ~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^
              ValueError: Expected object or value
              
              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 dataset

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id
int64
object_class
string
physical_metrics
dict
successful_action
dict
1
Whole Milk Carton
{ "diameter_mm": { "length_mm": 150, "width_mm": 55 } }
{ "target_angles": [ 474, 563, 543, 632, 602, 0 ], "force_limit": [ 456, 0, 52, 472, 628, 726 ] }
2
Purple Squeeze Bottle
{ "diameter_mm": { "length_mm": 180, "width_mm": 65 } }
{ "target_angles": [ 406, 503, 551, 605, 735, 0 ], "force_limit": [ 661, 135, 243, 628, 822, 797 ] }
3
Glass Beverage Bottle
{ "diameter_mm": { "length_mm": 260, "width_mm": 70 } }
{ "target_angles": [ 450, 566, 665, 715, 786, 0 ], "force_limit": [ 1002, 1, 0, 975, 1094, 758 ] }
4
Snack Bag A
{ "diameter_mm": { "length_mm": 175, "width_mm": 80 } }
{ "target_angles": [ 397, 499, 500, 495, 509, 0 ], "force_limit": [ 1000, 0, 87, 0, 9, 52 ] }
5
Snack Bag B
{ "diameter_mm": { "length_mm": 190, "width_mm": 115 } }
{ "target_angles": [ 768, 793, 834, 868, 924, 0 ], "force_limit": [ 788, 874, 14, 323, 1136, 920 ] }
6
Toothpaste Box
{ "diameter_mm": { "length_mm": 150, "width_mm": 70 } }
{ "target_angles": [ 400, 471, 562, 583, 635, 0 ], "force_limit": [ 79, 776, 0, 784, 1104, 752 ] }
7
Pea Snack Bag
{ "diameter_mm": { "length_mm": 220, "width_mm": 175 } }
{ "target_angles": [ 401, 508, 583, 612, 724, 0 ], "force_limit": [ 373, 448, 42, 724, 914, 552 ] }
8
Lemon A
{ "diameter_mm": { "length_mm": 82, "width_mm": 68 } }
{ "target_angles": [ 397, 602, 643, 629, 768, 0 ], "force_limit": [ 0, 805, 224, 854, 902, 687 ] }
9
Blue Snack Bar Package
{ "diameter_mm": { "length_mm": 210, "width_mm": 45 } }
{ "target_angles": [ 397, 399, 496, 500, 543, 0 ], "force_limit": [ 0, 198, 46, 721, 519, 214 ] }
10
Green Drink Carton
{ "diameter_mm": { "length_mm": 130, "width_mm": 80 } }
{ "target_angles": [ 398, 534, 562, 584, 717, 0 ], "force_limit": [ 640, 59, 0, 556, 394, 401 ] }
11
Cartoon Snack Bag
{ "diameter_mm": { "length_mm": 185, "width_mm": 140 } }
{ "target_angles": [ 397, 499, 504, 524, 637, 0 ], "force_limit": [ 1000, 0, 696, 1098, 826, 10 ] }
12
Mint Candy Box
{ "diameter_mm": { "length_mm": 72, "width_mm": 45 } }
{ "target_angles": [ 397, 499, 458, 504, 559, 0 ], "force_limit": [ 0, 0, 395, 1012, 972, 0 ] }
13
White Electronics Box
{ "diameter_mm": { "length_mm": 105, "width_mm": 75 } }
{ "target_angles": [ 464, 572, 612, 637, 706, 0 ], "force_limit": [ 784, 19, 68, 1053, 1153, 867 ] }
14
Blue Small Snack Bag
{ "diameter_mm": { "length_mm": 125, "width_mm": 70 } }
{ "target_angles": [ 397, 399, 504, 520, 601, 0 ], "force_limit": [ 0, 155, 535, 1210, 1089, 243 ] }
15
Orange
{ "diameter_mm": { "length_mm": 78, "width_mm": 72 } }
{ "target_angles": [ 397, 640, 682, 656, 756, 0 ], "force_limit": [ 54, 664, 235, 794, 624, 477 ] }
16
Water Bottle
{ "diameter_mm": { "length_mm": 210, "width_mm": 65 } }
{ "target_angles": [ 542, 989, 645, 674, 742, 0 ], "force_limit": [ 460, 511, 362, 748, 1168, 567 ] }
17
Mini Coke Can
{ "diameter_mm": { "length_mm": 95, "width_mm": 66 } }
{ "target_angles": [ 547, 610, 644, 676, 798, 0 ], "force_limit": [ 348, 583, 772, 1107, 784, 565 ] }
18
Cucumber
{ "diameter_mm": { "length_mm": 260, "width_mm": 48 } }
{ "target_angles": [ 400, 501, 541, 176, 706, 0 ], "force_limit": [ 200, 528, 182, 547, 1067, 574 ] }
19
Orange Beverage Can
{ "diameter_mm": { "length_mm": 155, "width_mm": 68 } }
{ "target_angles": [ 551, 617, 641, 693, 736, 0 ], "force_limit": [ 295, 155, 354, 395, 851, 798 ] }
20
Transparent Plastic Drink Bottle
{ "diameter_mm": { "length_mm": 245, "width_mm": 70 } }
{ "target_angles": [ 659, 689, 708, 753, 848, 0 ], "force_limit": [ 10, 796, 1032, 412, 1107, 783 ] }
21
Lemon B
{ "diameter_mm": { "length_mm": 85, "width_mm": 72 } }
{ "target_angles": [ 397, 610, 665, 669, 767, 0 ], "force_limit": [ 0, 862, 469, 184, 873, 692 ] }
22
Cotton Swab Box
{ "diameter_mm": { "length_mm": 120, "width_mm": 75 } }
{ "target_angles": [ 397, 559, 605, 521, 694, 0 ], "force_limit": [ 0, 938, 36, 164, 825, 747 ] }
23
Banana A
{ "diameter_mm": { "length_mm": 200, "width_mm": 45 } }
{ "target_angles": [ 387, 513, 504, 566, 641, 0 ], "force_limit": [ 0, 246, 334, 342, 452, 367 ] }
24
Banana B
{ "diameter_mm": { "length_mm": 195, "width_mm": 45 } }
{ "target_angles": [ 367, 507, 541, 537, 606, 0 ], "force_limit": [ 0, 528, 320, 182, 568, 531 ] }
25
Banana C
{ "diameter_mm": { "length_mm": 200, "width_mm": 45 } }
{ "target_angles": [ 390, 503, 511, 578, 654, 0 ], "force_limit": [ 157, 173, 561, 589, 645, 556 ] }
26
Banana D
{ "diameter_mm": { "length_mm": 205, "width_mm": 48 } }
{ "target_angles": [ 399, 497, 509, 562, 625, 0 ], "force_limit": [ 121, 154, 583, 367, 644, 587 ] }
27
Toothpaste Tube
{ "diameter_mm": { "length_mm": 180, "width_mm": 60 } }
{ "target_angles": [ 435, 575, 610, 664, 728, 0 ], "force_limit": [ 763, 0, 87, 439, 780, 502 ] }
28
Yellow Potato Chips Bag
{ "diameter_mm": { "length_mm": 230, "width_mm": 170 } }
{ "target_angles": [ 619, 644, 670, 714, 772, 0 ], "force_limit": [ 304, 521, 97, 446, 980, 895 ] }
29
Red Snack Bag A
{ "diameter_mm": { "length_mm": 190, "width_mm": 95 } }
{ "target_angles": [ 395, 409, 404, 550, 556, 0 ], "force_limit": [ 0, 332, 0, 1003, 863, 252 ] }
30
Ginger Root A
{ "diameter_mm": { "length_mm": 310, "width_mm": 145 } }
{ "target_angles": [ 580, 462, 518, 658, 211, 0 ], "force_limit": [ 0, 520, 1103, 264, 865, 748 ] }
31
Ginger Root B
{ "diameter_mm": { "length_mm": 230, "width_mm": 100 } }
{ "target_angles": [ 396, 401, 630, 780, 720, 0 ], "force_limit": [ 0, 627, 642, 29, 754, 402 ] }
32
Ginger Root C
{ "diameter_mm": { "length_mm": 190, "width_mm": 105 } }
{ "target_angles": [ 397, 401, 629, 778, 722, 0 ], "force_limit": [ 0, 624, 626, 0, 712, 438 ] }
33
Black Cylindrical Package
{ "diameter_mm": { "length_mm": 240, "width_mm": 55 } }
{ "target_angles": [ 399, 431, 490, 526, 615, 0 ], "force_limit": [ 0, 289, 67, 642, 722, 826 ] }
34
Green Beverage Bottle
{ "diameter_mm": { "length_mm": 190, "width_mm": 45 } }
{ "target_angles": [ 398, 475, 532, 581, 662, 0 ], "force_limit": [ 0, 565, 100, 817, 1053, 756 ] }
35
Blue Potato Chips Bag
{ "diameter_mm": { "length_mm": 230, "width_mm": 160 } }
{ "target_angles": [ 399, 465, 518, 565, 827, 0 ], "force_limit": [ 190, 379, 275, 304, 777, 347 ] }
36
Corn Cob
{ "diameter_mm": { "length_mm": 140, "width_mm": 55 } }
{ "target_angles": [ 399, 549, 615, 644, 712, 0 ], "force_limit": [ 98, 562, 108, 652, 940, 564 ] }
37
Potato A
{ "diameter_mm": { "length_mm": 120, "width_mm": 75 } }
{ "target_angles": [ 504, 675, 706, 736, 769, 0 ], "force_limit": [ 209, 536, 121, 885, 1047, 828 ] }
38
Large Beverage Bottle
{ "diameter_mm": { "length_mm": 280, "width_mm": 95 } }
{ "target_angles": [ 618, 642, 672, 715, 772, 0 ], "force_limit": [ 335, 539, 102, 438, 959, 861 ] }
39
Potato B
{ "diameter_mm": { "length_mm": 110, "width_mm": 75 } }
{ "target_angles": [ 576, 732, 706, 725, 772, 0 ], "force_limit": [ 1167, 0, 178, 781, 1172, 1005 ] }
40
Pink Chips Canister
{ "diameter_mm": { "length_mm": 150, "width_mm": 75 } }
{ "target_angles": [ 619, 676, 715, 751, 801, 0 ], "force_limit": [ 1090, 821, 2, 483, 1176, 1146 ] }
41
Asian Pear A
{ "diameter_mm": { "length_mm": 105, "width_mm": 100 } }
{ "target_angles": [ 536, 747, 800, 764, 845, 0 ], "force_limit": [ 949, 507, 521, 0, 804, 871 ] }
42
Toothpaste Box
{ "diameter_mm": { "length_mm": 200, "width_mm": 48 } }
{ "target_angles": [ 399, 460, 529, 567, 646, 0 ], "force_limit": [ 0, 678, 67, 936, 1036, 680 ] }
43
Red Snack Bag B
{ "diameter_mm": { "length_mm": 220, "width_mm": 160 } }
{ "target_angles": [ 535, 605, 636, 657, 733, 0 ], "force_limit": [ 549, 320, 137, 833, 1371, 632 ] }
44
Potato C
{ "diameter_mm": { "length_mm": 110, "width_mm": 75 } }
{ "target_angles": [ 435, 676, 752, 761, 768, 0 ], "force_limit": [ 115, 761, 743, 0, 992, 888 ] }
45
Tea Bottle
{ "diameter_mm": { "length_mm": 220, "width_mm": 80 } }
{ "target_angles": [ 757, 715, 710, 756, 828, 0 ], "force_limit": [ 0, 828, 1032, 380, 1334, 801 ] }
46
White Beverage Bottle
{ "diameter_mm": { "length_mm": 230, "width_mm": 85 } }
{ "target_angles": [ 630, 502, 647, 715, 759, 0 ], "force_limit": [ 0, 1161, 201, 371, 848, 722 ] }
47
Pink Drink Bottle
{ "diameter_mm": { "length_mm": 230, "width_mm": 75 } }
{ "target_angles": [ 574, 845, 847, 688, 853, 0 ], "force_limit": [ 1175, 236, 138, 493, 1029, 810 ] }
48
Asian Pear B
{ "diameter_mm": { "length_mm": 105, "width_mm": 95 } }
{ "target_angles": [ 570, 652, 690, 732, 702, 0 ], "force_limit": [ 504, 215, 484, 276, 478, 516 ] }
49
Green Drink Carton
{ "diameter_mm": { "length_mm": 145, "width_mm": 60 } }
{ "target_angles": [ 495, 612, 663, 674, 742, 0 ], "force_limit": [ 329, 441, 0, 857, 928, 726 ] }
50
Chocolate Milk Carton
{ "diameter_mm": { "length_mm": 140, "width_mm": 60 } }
{ "target_angles": [ 584, 509, 661, 747, 758, 0 ], "force_limit": [ 0, 532, 458, 26, 744, 601 ] }
51
Red Soda Can
{ "diameter_mm": { "length_mm": 122, "width_mm": 66 } }
{ "target_angles": [ 628, 625, 691, 724, 786, 0 ], "force_limit": [ 542, 457, 1135, 567, 1017, 1194 ] }
52
Pudding Cup
{ "diameter_mm": { "length_mm": 88, "width_mm": 95 } }
{ "target_angles": [ 574, 844, 845, 690, 854, 0 ], "force_limit": [ 1164, 212, 101, 534, 1057, 825 ] }
53
Tall Orange Beverage Can
{ "diameter_mm": { "length_mm": 155, "width_mm": 66 } }
{ "target_angles": [ 453, 83, 328, 627, 985, 764 ], "force_limit": [ 40, 41, 40, 39, 36, 38 ] }
54
Small Cartoon Can
{ "diameter_mm": { "length_mm": 95, "width_mm": 55 } }
{ "target_angles": [ 337, 629, 648, 678, 728, 0 ], "force_limit": [ 293, 443, 257, 805, 1271, 984 ] }
55
Millet Crisp Bag
{ "diameter_mm": { "length_mm": 210, "width_mm": 160 } }
{ "target_angles": [ 453, 464, 577, 643, 784, 0 ], "force_limit": [ 215, 609, 46, 233, 492, 582 ] }
56
Bakery Snack Bag
{ "diameter_mm": { "length_mm": 250, "width_mm": 185 } }
{ "target_angles": [ 139, 0, 102, 571, 606, 49 ], "force_limit": [ 34, 34, 34, 33, 32, 34 ] }
57
Blueberry Snack Bag
{ "diameter_mm": { "length_mm": 150, "width_mm": 110 } }
{ "target_angles": [ 397, 397, 456, 496, 558, 0 ], "force_limit": [ 0, 41, 0, 106, 92, 53 ] }
58
Spicy Snack Bag
{ "diameter_mm": { "length_mm": 230, "width_mm": 155 } }
{ "target_angles": [ 88, 374, 100, 302, 601, 416 ], "force_limit": [ 37, 38, 38, 37, 36, 36 ] }
59
Peach Can
{ "diameter_mm": { "length_mm": 80, "width_mm": 70 } }
{ "target_angles": [ 436, 983, 880, 506, 994, 994 ], "force_limit": [ 40, 41, 41, 39, 36, 38 ] }
60
Fries Snack Bag
{ "diameter_mm": { "length_mm": 160, "width_mm": 95 } }
{ "target_angles": [ 398, 400, 500, 506, 579, 0 ], "force_limit": [ 0, 388, 54, 1152, 813, 313 ] }
61
Non-fried Chips Pack
{ "diameter_mm": { "length_mm": 245, "width_mm": 60 } }
{ "target_angles": [ 399, 477, 547, 567, 644, 0 ], "force_limit": [ 116, 439, 85, 852, 584, 506 ] }
62
Toast Bread Bag
{ "diameter_mm": { "length_mm": 165, "width_mm": 130 } }
{ "target_angles": [ 399, 399, 494, 500, 508, 0 ], "force_limit": [ 0, 102, 0, 305, 284, 79 ] }
63
Green Snack Bag
{ "diameter_mm": { "length_mm": 165, "width_mm": 110 } }
{ "target_angles": [ 400, 500, 506, 571, 692, 0 ], "force_limit": [ 311, 107, 539, 553, 814, 520 ] }
64
Orange Beverage Can
{ "diameter_mm": { "length_mm": 155, "width_mm": 66 } }
{ "target_angles": [ 584, 568, 610, 668, 772, 0 ], "force_limit": [ 0, 1098, 1003, 334, 1201, 1867 ] }
65
Watsons Can
{ "diameter_mm": { "length_mm": 122, "width_mm": 66 } }
{ "target_angles": [ 605, 646, 676, 724, 815, 0 ], "force_limit": [ 414, 1042, 936, 558, 1527, 1186 ] }
66
Whole Milk Carton
{ "diameter_mm": { "length_mm": 110, "width_mm": 45 } }
{ "target_angles": [ 413, 535, 9, 615, 685, 0 ], "force_limit": [ 604, 89, 0, 695, 818, 862 ] }
67
Turquoise Spray Bottle
{ "diameter_mm": { "length_mm": 240, "width_mm": 45 } }
{ "target_angles": [ 387, 525, 576, 601, 683, 0 ], "force_limit": [ 0, 445, 0, 435, 542, 343 ] }
68
Cucumber
{ "diameter_mm": { "length_mm": 280, "width_mm": 45 } }
{ "target_angles": [ 400, 499, 538, 573, 688, 0 ], "force_limit": [ 202, 6, 261, 287, 585, 431 ] }
69
Orange A
{ "diameter_mm": { "length_mm": 82, "width_mm": 76 } }
{ "target_angles": [ 405, 672, 701, 648, 785, 0 ], "force_limit": [ 477, 251, 12, 256, 624, 264 ] }
70
Orange B
{ "diameter_mm": { "length_mm": 84, "width_mm": 78 } }
{ "target_angles": [ 397, 586, 717, 720, 822, 0 ], "force_limit": [ 0, 829, 58, 478, 713, 482 ] }
71
White Pump Bottle
{ "diameter_mm": { "length_mm": 240, "width_mm": 50 } }
{ "target_angles": [ 397, 500, 567, 593, 697, 0 ], "force_limit": [ 208, 37, 37, 513, 543, 120 ] }
72
Apple A
{ "diameter_mm": { "length_mm": 86, "width_mm": 80 } }
{ "target_angles": [ 539, 718, 754, 714, 831, 0 ], "force_limit": [ 1023, 146, 356, 567, 1025, 1023 ] }
73
Mint Green Animal Container
{ "diameter_mm": { "length_mm": 72, "width_mm": 55 } }
{ "target_angles": [ 397, 499, 499, 530, 689, 0 ], "force_limit": [ 39, 40, 40, 40, 36, 40 ] }
74
Blue Glue Stick
{ "diameter_mm": { "length_mm": 130, "width_mm": 35 } }
{ "target_angles": [ 0, 183, 474, 928, 898, 13 ], "force_limit": [ 39, 40, 40, 39, 36, 40 ] }
75
Green Tissue Box
{ "diameter_mm": { "length_mm": 150, "width_mm": 95 } }
{ "target_angles": [ 400, 535, 562, 583, 715, 0 ], "force_limit": [ 615, 21, 24, 583, 408, 402 ] }
76
Game Controller
{ "diameter_mm": { "length_mm": 175, "width_mm": 110 } }
{ "target_angles": [ 568, 529, 595, 654, 745, 0 ], "force_limit": [ 592, 535, 0, 616, 842, 877 ] }
77
Orange Drink Bottle
{ "diameter_mm": { "length_mm": 250, "width_mm": 65 } }
{ "target_angles": [ 648, 592, 628, 693, 785, 0 ], "force_limit": [ 0, 605, 423, 743, 1136, 432 ] }
78
Red Snack Bag A
{ "diameter_mm": { "length_mm": 230, "width_mm": 175 } }
{ "target_angles": [ 413, 503, 577, 600, 724, 0 ], "force_limit": [ 523, 411, 0, 671, 811, 674 ] }
79
Clear Plastic Container
{ "diameter_mm": { "length_mm": 160, "width_mm": 75 } }
{ "target_angles": [ 578, 640, 638, 680, 744, 0 ], "force_limit": [ 474, 162, 601, 634, 1105, 897 ] }
80
Blue Computer Mouse
{ "diameter_mm": { "length_mm": 110, "width_mm": 65 } }
{ "target_angles": [ 397, 600, 618, 672, 775, 0 ], "force_limit": [ 0, 785, 1068, 679, 1222, 686 ] }
81
Black Computer Mouse
{ "diameter_mm": { "length_mm": 115, "width_mm": 65 } }
{ "target_angles": [ 434, 593, 642, 604, 764, 0 ], "force_limit": [ 0, 942, 0, 994, 1071, 793 ] }
82
White Circular Flange
{ "diameter_mm": { "length_mm": 95, "width_mm": 95 } }
{ "target_angles": [ 397, 497, 693, 736, 804, 0 ], "force_limit": [ 0, 0, 628, 0, 330, 108 ] }
83
Redmi Earbuds Case
{ "diameter_mm": { "length_mm": 70, "width_mm": 55 } }
{ "target_angles": [ 398, 495, 642, 661, 764, 0 ], "force_limit": [ 0, 24, 362, 1130, 861, 86 ] }
84
Silver Atomizer
{ "diameter_mm": { "length_mm": 100, "width_mm": 25 } }
{ "target_angles": [ 397, 498, 504, 540, 634, 0 ], "force_limit": [ 0, 0, 106, 1147, 634, 0 ] }
85
Dark Green Box
{ "diameter_mm": { "length_mm": 135, "width_mm": 100 } }
{ "target_angles": [ 400, 500, 529, 554, 404, 0 ], "force_limit": [ 211, 0, 339, 815, 410, 189 ] }
86
White and Green Small Box
{ "diameter_mm": { "length_mm": 110, "width_mm": 60 } }
{ "target_angles": [ 347, 499, 436, 504, 524, 0 ], "force_limit": [ 0, 72, 192, 667, 583, 0 ] }
87
Large Orange
{ "diameter_mm": { "length_mm": 96, "width_mm": 90 } }
{ "target_angles": [ 577, 780, 715, 626, 796, 0 ], "force_limit": [ 260, 0, 156, 364, 456, 329 ] }
88
Metal Coupling A
{ "diameter_mm": { "length_mm": 70, "width_mm": 35 } }
{ "target_angles": [ 397, 497, 593, 616, 713, 0 ], "force_limit": [ 0, 0, 1015, 0, 619, 250 ] }
89
Metal Coupling B
{ "diameter_mm": { "length_mm": 80, "width_mm": 50 } }
{ "target_angles": [ 397, 499, 500, 522, 629, 0 ], "force_limit": [ 0, 0, 407, 1067, 747, 11 ] }
90
Chrome Cylinder
{ "diameter_mm": { "length_mm": 90, "width_mm": 25 } }
{ "target_angles": [ 0, 0, 321, 882, 602, 11 ], "force_limit": [ 39, 40, 40, 39, 36, 40 ] }
91
Green Small Case
{ "diameter_mm": { "length_mm": 55, "width_mm": 45 } }
{ "target_angles": [ 397, 495, 504, 529, 640, 0 ], "force_limit": [ 0, 0, 929, 934, 850, 0 ] }
92
Green Milk Drink Carton
{ "diameter_mm": { "length_mm": 132, "width_mm": 53 } }
{ "target_angles": [ 397, 406, 506, 535, 611, 0 ], "force_limit": [ 0, 0, 628, 626, 781, 0 ] }
93
Apple B
{ "diameter_mm": { "length_mm": 84, "width_mm": 78 } }
{ "target_angles": [ 521, 727, 276, 670, 626, 0 ], "force_limit": [ 735, 47, 354, 848, 1106, 297 ] }
94
Yellow Black Electronic Device
{ "diameter_mm": { "length_mm": 180, "width_mm": 95 } }
{ "target_angles": [ 662, 702, 725, 775, 856, 0 ], "force_limit": [ 159, 994, 892, 520, 1134, 792 ] }
95
Red Candy Tube
{ "diameter_mm": { "length_mm": 135, "width_mm": 40 } }
{ "target_angles": [ 398, 499, 516, 544, 667, 0 ], "force_limit": [ 0, 0, 1028, 223, 618, 286 ] }
96
White Drink Bottle
{ "diameter_mm": { "length_mm": 100, "width_mm": 55 } }
{ "target_angles": [ 398, 497, 603, 644, 725, 0 ], "force_limit": [ 0, 0, 432, 935, 814, 0 ] }
97
HDMI Adapter Box
{ "diameter_mm": { "length_mm": 170, "width_mm": 130 } }
{ "target_angles": [ 399, 500, 504, 522, 637, 0 ], "force_limit": [ 132, 0, 443, 1127, 881, 205 ] }
98
Toothpaste Box
{ "diameter_mm": { "length_mm": 200, "width_mm": 50 } }
{ "target_angles": [ 776, 184, 253, 813, 980, 920 ], "force_limit": [ 41, 42, 41, 40, 38, 38 ] }
99
Beige Snack Bag
{ "diameter_mm": { "length_mm": 220, "width_mm": 80 } }
{ "target_angles": [ 399, 625, 646, 568, 757, 0 ], "force_limit": [ 11, 502, 718, 704, 1052, 511 ] }
100
Maroon Beverage Carton
{ "diameter_mm": { "length_mm": 230, "width_mm": 70 } }
{ "target_angles": [ 486, 578, 628, 646, 759, 0 ], "force_limit": [ 743, 224, 0, 690, 965, 1088 ] }
End of preview.

pretty_name: Real-Robot Dexterous Grasping Memory Bank language:

  • en license: size_categories:
  • 1K<n<10K tags:
  • robotics
  • dexterous-manipulation
  • robotic-grasping
  • real-robot

Real-Robot Dexterous Grasping Memory Bank

Dataset Description

This dataset is a real-robot dexterous grasping memory bank constructed from physical grasping experiments on 102 object samples. It contains 1,020 successful terminal grasp records organised into ten JSON files. The dataset is intended to provide physically validated experience anchors for semantic-geometric retrieval and grasp-parameter generation.

Data Fields

Each record contains the following fields:

  • object_class: descriptive object-category label.
  • length_mm: measured object length in millimetres.
  • width_mm: measured object width in millimetres.
  • target_angles: six target-position commands for the actuated channels of the dexterous hand, expressed in native command units.
  • force_limit: six channel-specific contact-force thresholds expressed in .

Data Collection

The records were obtained through manual initialization and real-robot grasp execution. A record was retained when the object was lifted by at least 10 cm and held for at least 5 s without obvious slipping, dropping, contact loss, or object damage.

Limitations

Only successful terminal grasp states are included. The dataset does not provide attempt-level failure frequencies or unbiased per-object grasp-success probabilities. The object distribution is concentrated on beverage containers, snack packages, fruits, vegetables, and regular convex geometries. Tools, thin plates, slender objects, concave objects, brittle materials, and highly deformable materials are less represented.

Intended Use

The dataset is intended for research on robotic grasp retrieval, grasp-parameter generation, dexterous manipulation, and retrieval-augmented robotic control. It should not be interpreted as a comprehensive benchmark covering all object categories, materials, or grasp-failure modes.

Citation

Please cite the associated paper when using this dataset:

@article{yao2026dexterousgrasping,
  title   = {Embodied intelligence-driven generalizable adaptive end-to-end grasping control method of dexterous hands based on multimodal large model and force-position coordination mechanism},
  author  = {Yao, Liya and Xu, Zhe and Huang, Sihan and others},
  year    = {2026},
  note    = {Manuscript}
}
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