nvidia/PhysicalAI-Robotics-Manipulation-Kitchen
PhysicalAI Robotics Manipulation in the Kitchen Dataset Description: PhysicalAI-Robotics-Manipulation-Kitchen is a dataset of automatic generated motions of robots performing operations such as opening and closing cabinets, drawers, dishwashers and fridges. The dataset was generated in IsaacSim leveraging reasoning algorithms and optimization-based motion planning to find solutions to the tasks automatically [1, 3]. The dataset includes a bimanual manipulator… See the full description on the dataset page: https://huggingface.co/datasets/nvidia/PhysicalAI-Robotics-Manipulation-Kitchen.
141.2k
1{2 "codebase_version": "v2.1",3 "robot_type": null,4 "total_episodes": 78,5 "total_frames": 39292,6 "total_tasks": 78,7 "total_videos": 1170,8 "total_chunks": 1,9 "chunks_size": 1000,10 "fps": 50.0,11 "splits": {12 "train": "0:78"13 },14 "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",15 "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",16 "features": {17 "action": {18 "dtype": "float32",19 "shape": [20 3421 ],22 "names": [23 "front_rocker",24 "front_left_wheel",25 "front_right_wheel",26 "rear_left_wheel",27 "rear_right_wheel",28 "ewellix_torso_joint",29 "pan_joint",30 "tilt_joint",31 "left_arm_joint_1",32 "left_arm_joint_2",33 "left_arm_joint_3",34 "left_arm_joint_4",35 "left_arm_joint_5",36 "left_arm_joint_6",37 "left_arm_joint_7",38 "left_arm_finger_joint",39 "left_arm_left_inner_finger_joint",40 "left_arm_left_inner_knuckle_joint",41 "left_arm_right_outer_knuckle_joint",42 "left_arm_right_inner_finger_joint",43 "left_arm_right_inner_knuckle_joint",44 "right_arm_joint_1",45 "right_arm_joint_2",46 "right_arm_joint_3",47 "right_arm_joint_4",48 "right_arm_joint_5",49 "right_arm_joint_6",50 "right_arm_joint_7",51 "right_arm_finger_joint",52 "right_arm_left_inner_finger_joint",53 "right_arm_left_inner_knuckle_joint",54 "right_arm_right_outer_knuckle_joint",55 "right_arm_right_inner_finger_joint",56 "right_arm_right_inner_knuckle_joint"57 ]58 },59 "observation.state": {60 "dtype": "float32",61 "shape": [62 1363 ],64 "names": [65 "r_xx",66 "r_xy",67 "r_xz",68 "p_x",69 "r_yx",70 "r_yy",71 "r_yz",72 "p_y",73 "r_zx",74 "r_zy",75 "r_zz",76 "p_z",77 "joint"78 ]79 },80 "observation.image.world__world_camera.rgb": {81 "dtype": "video",82 "shape": [83 3,84 720,85 128086 ],87 "names": [88 "channels",89 "height",90 "width"91 ],92 "info": {93 "video.fps": 50.0,94 "video.height": 512,95 "video.width": 512,96 "video.channels": 3,97 "video.codec": "h264",98 "video.pix_fmt": "yuv420p",99 "video.is_depth_map": false,100 "has_audio": false101 }102 },103 "observation.image.external_camera.rgb": {104 "dtype": "video",105 "shape": [106 3,107 720,108 1280109 ],110 "names": [111 "channels",112 "height",113 "width"114 ],115 "info": {116 "video.fps": 50.0,117 "video.height": 512,118 "video.width": 512,119 "video.channels": 3,120 "video.codec": "h264",121 "video.pix_fmt": "yuv420p",122 "video.is_depth_map": false,123 "has_audio": false124 }125 },126 "observation.image.world__robot__right_arm_camera_color_frame__right_hand_camera.rgb": {127 "dtype": "video",128 "shape": [129 3,130 720,131 1280132 ],133 "names": [134 "channels",135 "height",136 "width"137 ],138 "info": {139 "video.fps": 50.0,140 "video.height": 512,141 "video.width": 512,142 "video.channels": 3,143 "video.codec": "h264",144 "video.pix_fmt": "yuv420p",145 "video.is_depth_map": false,146 "has_audio": false147 }148 },149 "observation.image.world__robot__left_arm_camera_color_frame__left_hand_camera.rgb": {150 "dtype": "video",151 "shape": [152 3,153 720,154 1280155 ],156 "names": [157 "channels",158 "height",159 "width"160 ],161 "info": {162 "video.fps": 50.0,163 "video.height": 512,164 "video.width": 512,165 "video.channels": 3,166 "video.codec": "h264",167 "video.pix_fmt": "yuv420p",168 "video.is_depth_map": false,169 "has_audio": false170 }171 },172 "observation.image.world__robot__camera_link__head_camera.rgb": {173 "dtype": "video",174 "shape": [175 3,176 720,177 1280178 ],179 "names": [180 "channels",181 "height",182 "width"183 ],184 "info": {185 "video.fps": 50.0,186 "video.height": 512,187 "video.width": 512,188 "video.channels": 3,189 "video.codec": "h264",190 "video.pix_fmt": "yuv420p",191 "video.is_depth_map": false,192 "has_audio": false193 }194 },195 "observation.image.world__world_camera.distance_to_image_plane": {196 "dtype": "video",197 "shape": [198 1,199 720,200 1280201 ],202 "names": [203 "channels",204 "height",205 "width"206 ],207 "info": {208 "video.fps": 50.0,209 "video.height": 512,210 "video.width": 512,211 "video.channels": 3,212 "video.codec": "h264",213 "video.pix_fmt": "yuv420p",214 "video.is_depth_map": false,215 "has_audio": false216 }217 },218 "observation.image.external_camera.distance_to_image_plane": {219 "dtype": "video",220 "shape": [221 1,222 720,223 1280224 ],225 "names": [226 "channels",227 "height",228 "width"229 ],230 "info": {231 "video.fps": 50.0,232 "video.height": 512,233 "video.width": 512,234 "video.channels": 3,235 "video.codec": "h264",236 "video.pix_fmt": "yuv420p",237 "video.is_depth_map": false,238 "has_audio": false239 }240 },241 "observation.image.world__robot__right_arm_camera_color_frame__right_hand_camera.distance_to_image_plane": {242 "dtype": "video",243 "shape": [244 1,245 720,246 1280247 ],248 "names": [249 "channels",250 "height",251 "width"252 ],253 "info": {254 "video.fps": 50.0,255 "video.height": 512,256 "video.width": 512,257 "video.channels": 3,258 "video.codec": "h264",259 "video.pix_fmt": "yuv420p",260 "video.is_depth_map": false,261 "has_audio": false262 }263 },264 "observation.image.world__robot__left_arm_camera_color_frame__left_hand_camera.distance_to_image_plane": {265 "dtype": "video",266 "shape": [267 1,268 720,269 1280270 ],271 "names": [272 "channels",273 "height",274 "width"275 ],276 "info": {277 "video.fps": 50.0,278 "video.height": 512,279 "video.width": 512,280 "video.channels": 3,281 "video.codec": "h264",282 "video.pix_fmt": "yuv420p",283 "video.is_depth_map": false,284 "has_audio": false285 }286 },287 "observation.image.world__robot__camera_link__head_camera.distance_to_image_plane": {288 "dtype": "video",289 "shape": [290 1,291 720,292 1280293 ],294 "names": [295 "channels",296 "height",297 "width"298 ],299 "info": {300 "video.fps": 50.0,301 "video.height": 512,302 "video.width": 512,303 "video.channels": 3,304 "video.codec": "h264",305 "video.pix_fmt": "yuv420p",306 "video.is_depth_map": false,307 "has_audio": false308 }309 },310 "observation.image.world__world_camera.semantic_segmentation": {311 "dtype": "video",312 "shape": [313 3,314 720,315 1280316 ],317 "names": [318 "channels",319 "height",320 "width"321 ],322 "info": {323 "video.fps": 50.0,324 "video.height": 512,325 "video.width": 512,326 "video.channels": 3,327 "video.codec": "h264",328 "video.pix_fmt": "yuv420p",329 "video.is_depth_map": false,330 "has_audio": false331 }332 },333 "observation.image.external_camera.semantic_segmentation": {334 "dtype": "video",335 "shape": [336 3,337 720,338 1280339 ],340 "names": [341 "channels",342 "height",343 "width"344 ],345 "info": {346 "video.fps": 50.0,347 "video.height": 512,348 "video.width": 512,349 "video.channels": 3,350 "video.codec": "h264",351 "video.pix_fmt": "yuv420p",352 "video.is_depth_map": false,353 "has_audio": false354 }355 },356 "observation.image.world__robot__right_arm_camera_color_frame__right_hand_camera.semantic_segmentation": {357 "dtype": "video",358 "shape": [359 3,360 720,361 1280362 ],363 "names": [364 "channels",365 "height",366 "width"367 ],368 "info": {369 "video.fps": 50.0,370 "video.height": 512,371 "video.width": 512,372 "video.channels": 3,373 "video.codec": "h264",374 "video.pix_fmt": "yuv420p",375 "video.is_depth_map": false,376 "has_audio": false377 }378 },379 "observation.image.world__robot__left_arm_camera_color_frame__left_hand_camera.semantic_segmentation": {380 "dtype": "video",381 "shape": [382 3,383 720,384 1280385 ],386 "names": [387 "channels",388 "height",389 "width"390 ],391 "info": {392 "video.fps": 50.0,393 "video.height": 512,394 "video.width": 512,395 "video.channels": 3,396 "video.codec": "h264",397 "video.pix_fmt": "yuv420p",398 "video.is_depth_map": false,399 "has_audio": false400 }401 },402 "observation.image.world__robot__camera_link__head_camera.semantic_segmentation": {403 "dtype": "video",404 "shape": [405 3,406 720,407 1280408 ],409 "names": [410 "channels",411 "height",412 "width"413 ],414 "info": {415 "video.fps": 50.0,416 "video.height": 512,417 "video.width": 512,418 "video.channels": 3,419 "video.codec": "h264",420 "video.pix_fmt": "yuv420p",421 "video.is_depth_map": false,422 "has_audio": false423 }424 },425 "timestamp": {426 "dtype": "float32",427 "shape": [428 1429 ],430 "names": null431 },432 "frame_index": {433 "dtype": "int64",434 "shape": [435 1436 ],437 "names": null438 },439 "episode_index": {440 "dtype": "int64",441 "shape": [442 1443 ],444 "names": null445 },446 "index": {447 "dtype": "int64",448 "shape": [449 1450 ],451 "names": null452 },453 "task_index": {454 "dtype": "int64",455 "shape": [456 1457 ],458 "names": null459 }460 }461}