nvidia/PhysicalAI-Robotics-GR00T-X-Embodiment-Sim
PhysicalAI-Robotics-GR00T-X-Embodiment-Sim Github Repo: Isaac GR00T N1 We provide a set of datasets used for post-training of GR00T N1. Each dataset is a collection of trajectories from different robot embodiments and tasks. Cross-embodied bimanual manipulation: 9k trajectories Dataset Name #trajectories bimanual_panda_gripper.Threading 1000 bimanual_panda_hand.LiftTray 1000 bimanual_panda_gripper.ThreePieceAssembly 1000… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-GR00T-X-Embodiment-Sim.
2741.3m
1{2 "state": {3 "base_position": {4 "start": 0,5 "end": 36 },7 "base_rotation": {8 "start": 3,9 "end": 7,10 "rotation_type": "quaternion"11 },12 "end_effector_position_absolute": {13 "start": 7,14 "end": 1015 },16 "end_effector_position_relative": {17 "start": 10,18 "end": 1319 },20 "end_effector_rotation_absolute": {21 "start": 13,22 "end": 17,23 "rotation_type": "quaternion"24 },25 "end_effector_rotation_relative": {26 "start": 17,27 "end": 21,28 "rotation_type": "quaternion"29 },30 "gripper_qpos": {31 "start": 21,32 "end": 2333 },34 "gripper_qvel": {35 "start": 23,36 "end": 2537 },38 "joint_position": {39 "start": 25,40 "end": 3241 },42 "joint_position_cos": {43 "start": 32,44 "end": 3945 },46 "joint_position_sin": {47 "start": 39,48 "end": 4649 },50 "joint_velocity": {51 "start": 46,52 "end": 5353 }54 },55 "action": {56 "base_motion": {57 "start": 0,58 "end": 4,59 "absolute": false60 },61 "control_mode": {62 "start": 4,63 "end": 5,64 "dtype": "int64",65 "range": [66 0,67 168 ]69 },70 "end_effector_position": {71 "start": 5,72 "end": 8,73 "absolute": false74 },75 "end_effector_rotation": {76 "start": 8,77 "end": 11,78 "absolute": false,79 "rotation_type": "axis_angle"80 },81 "gripper_close": {82 "start": 11,83 "end": 12,84 "dtype": "int64",85 "range": [86 0,87 188 ]89 }90 },91 "video": {92 "left_view": {93 "original_key": "observation.images.left_view"94 },95 "right_view": {96 "original_key": "observation.images.right_view"97 },98 "wrist_view": {99 "original_key": "observation.images.wrist_view"100 }101 },102 "annotation": {103 "human.action.task_description": {},104 "human.action.task_name": {},105 "human.validity": {}106 }107}