jaco_play

• Description:

Jaco 2 pick place on table top

• Homepage: https://github.com/clvrai/clvr_jaco_play_dataset

• Source code: tfds.robotics.rtx.JacoPlay

• Versions:

  • 0.1.0 (default): Initial release.

• Download size: Unknown size

• Dataset size: 9.24 GiB

• Auto-cached (documentation): No

• Splits:

Split	Examples
'test'	109
'train'	976

• Feature structure:

FeaturesDict({
    'steps': Dataset({
        'action': FeaturesDict({
            'gripper_closedness_action': Tensor(shape=(1,), dtype=float32),
            'terminate_episode': Tensor(shape=(3,), dtype=int32),
            'world_vector': Tensor(shape=(3,), dtype=float32),
        }),
        'is_first': bool,
        'is_last': bool,
        'is_terminal': bool,
        'observation': FeaturesDict({
            'end_effector_cartesian_pos': Tensor(shape=(7,), dtype=float32),
            'end_effector_cartesian_velocity': Tensor(shape=(6,), dtype=float32),
            'image': Image(shape=(224, 224, 3), dtype=uint8),
            'image_wrist': Image(shape=(224, 224, 3), dtype=uint8),
            'joint_pos': Tensor(shape=(8,), dtype=float32),
            'natural_language_embedding': Tensor(shape=(512,), dtype=float32),
            'natural_language_instruction': string,
        }),
        'reward': Scalar(shape=(), dtype=float32),
    }),
})

• Feature documentation:

Feature	Class	Shape	Dtype	Description
	FeaturesDict
steps	Dataset
steps/action	FeaturesDict
steps/action/gripper_closedness_action	Tensor	(1,)	float32
steps/action/terminate_episode	Tensor	(3,)	int32
steps/action/world_vector	Tensor	(3,)	float32
steps/is_first	Tensor		bool
steps/is_last	Tensor		bool
steps/is_terminal	Tensor		bool
steps/observation	FeaturesDict
steps/observation/end_effector_cartesian_pos	Tensor	(7,)	float32
steps/observation/end_effector_cartesian_velocity	Tensor	(6,)	float32
steps/observation/image	Image	(224, 224, 3)	uint8
steps/observation/image_wrist	Image	(224, 224, 3)	uint8
steps/observation/joint_pos	Tensor	(8,)	float32
steps/observation/natural_language_embedding	Tensor	(512,)	float32
steps/observation/natural_language_instruction	Tensor		string
steps/reward	Scalar		float32

• Supervised keys (See as_supervised doc): None

• Figure (tfds.show_examples): Not supported.

• Examples (tfds.as_dataframe):

• Citation:

@software{dass2023jacoplay,
  author = {Dass, Shivin and Yapeter, Jullian and Zhang, Jesse and Zhang, Jiahui
            and Pertsch, Karl and Nikolaidis, Stefanos and Lim, Joseph J.},
  title = {CLVR Jaco Play Dataset},
  url = {https://github.com/clvrai/clvr_jaco_play_dataset},
  version = {1.0.0},
  year = {2023}
}