Datasets:
Tasks:
Robotics
Languages:
English
Size:
100K<n<1M
ArXiv:
Tags:
robotics
manipulation
dexterous-manipulation
hand-object-interaction
trajectory-data
contact-forces
License:
| { | |
| "valid": true, | |
| "rows": 111857, | |
| "violations": [], | |
| "trajectory_ids": { | |
| "count": 111857, | |
| "first": "traj_00000001", | |
| "last": "traj_00111857" | |
| }, | |
| "unique_values": { | |
| "action_label": [ | |
| "001-Palmar-Pinch", | |
| "002-Prismatic-3-Finger", | |
| "003-Prismatic-4-Finger", | |
| "003-bowl-cuboid1-从电磁炉顶面拿起碗", | |
| "004-Prismatic-5-Finger", | |
| "005-mayonnaisebottle-bowl-拿起番茄酱瓶", | |
| "007-Writing-Tripod", | |
| "008-Parallel-Extension", | |
| "009-Large-Diameter", | |
| "01", | |
| "010-Extension-Type", | |
| "011-Sphere-3-Finger", | |
| "012-Distal-Type", | |
| "013-Ring", | |
| "014-Adducted-Thumb", | |
| "015-Index-Finger-Extension", | |
| "016-Adduction-Grip", | |
| "018-Lateral", | |
| "019-Lateral-Tripod", | |
| "02", | |
| "03", | |
| "04", | |
| "07", | |
| "08", | |
| "09", | |
| "10", | |
| "11", | |
| "12", | |
| "14", | |
| "15", | |
| "16", | |
| "18" | |
| ], | |
| "hand_id": [ | |
| "hand_0" | |
| ], | |
| "hand_side": [ | |
| "right" | |
| ], | |
| "object_id": [ | |
| "object_0" | |
| ], | |
| "object_category": [ | |
| "banana", | |
| "bowl", | |
| "cube1", | |
| "cube2", | |
| "cuboid1", | |
| "cuboid2", | |
| "cuboid3", | |
| "cylinder1", | |
| "cylinder2", | |
| "cylinder3", | |
| "cylinder4", | |
| "cylinder5", | |
| "cylinder6", | |
| "cylinder7", | |
| "iphone", | |
| "largeclamp", | |
| "mayonnaisebottle", | |
| "pitcherbase", | |
| "powerdrill", | |
| "scissor", | |
| "sphere1", | |
| "sphere2" | |
| ], | |
| "contact_hand_id": [ | |
| "hand_0" | |
| ], | |
| "contact_joint_name": [ | |
| "index_dip", | |
| "index_mcp", | |
| "index_pip", | |
| "middle_dip", | |
| "middle_mcp", | |
| "middle_pip", | |
| "palm", | |
| "pinky_dip", | |
| "pinky_mcp", | |
| "pinky_pip", | |
| "ring_dip", | |
| "ring_mcp", | |
| "ring_pip", | |
| "thumb_cmc", | |
| "thumb_ip", | |
| "thumb_mcp" | |
| ], | |
| "contact_object_id": [ | |
| "object_0" | |
| ] | |
| } | |
| } | |