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mathildekappel
/

trajectory_primitive

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train

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The dataset generation failed

Error code:   DatasetGenerationError
Exception:    CastError
Message:      Couldn't cast
genome: list<item: double>
  child 0, item: double
fitness_grasping: bool
behavior_descriptor: list<item: double>
  child 0, item: double
score_tensor_trajectory_item: double
traj_list: list<item: list<item: double>>
  child 0, item: list<item: double>
      child 0, item: double
pre_grasp_pos_quat_item: list<item: double>
  child 0, item: double
pos_joint: list<item: list<item: double>>
  child 0, item: list<item: double>
      child 0, item: double
anotation_grasp: double
history_link_pose_grasp_item: list<item: list<item: double>>
  child 0, item: list<item: double>
      child 0, item: double
generation: int64
grasp_joint_init_config: list<item: double>
  child 0, item: double
score_range_activation_item: double
nbr_succes_traj_in_archive: int64
nbr_succes_grasp_in_archive: int64
size_archive: int64
nbr_cell_discovered: int64
to
{'generation': Value('int64'), 'size_archive': Value('int64'), 'nbr_succes_traj_in_archive': Value('int64'), 'nbr_succes_grasp_in_archive': Value('int64'), 'nbr_cell_discovered': Value('int64')}
because column names don't match
Traceback:    Traceback (most recent call last):
                File "/usr/local/lib/python3.12/site-packages/datasets/builder.py", line 1872, in _prepare_split_single
                  for key, table in generator:
                                    ^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/json/json.py", line 295, in _generate_tables
                  self._cast_table(pa_table, json_field_paths=json_field_paths),
                  ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/json/json.py", line 128, in _cast_table
                  pa_table = table_cast(pa_table, self.info.features.arrow_schema)
                             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/table.py", line 2281, in table_cast
                  return cast_table_to_schema(table, schema)
                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/table.py", line 2227, in cast_table_to_schema
                  raise CastError(
              datasets.table.CastError: Couldn't cast
              genome: list<item: double>
                child 0, item: double
              fitness_grasping: bool
              behavior_descriptor: list<item: double>
                child 0, item: double
              score_tensor_trajectory_item: double
              traj_list: list<item: list<item: double>>
                child 0, item: list<item: double>
                    child 0, item: double
              pre_grasp_pos_quat_item: list<item: double>
                child 0, item: double
              pos_joint: list<item: list<item: double>>
                child 0, item: list<item: double>
                    child 0, item: double
              anotation_grasp: double
              history_link_pose_grasp_item: list<item: list<item: double>>
                child 0, item: list<item: double>
                    child 0, item: double
              generation: int64
              grasp_joint_init_config: list<item: double>
                child 0, item: double
              score_range_activation_item: double
              nbr_succes_traj_in_archive: int64
              nbr_succes_grasp_in_archive: int64
              size_archive: int64
              nbr_cell_discovered: int64
              to
              {'generation': Value('int64'), 'size_archive': Value('int64'), 'nbr_succes_traj_in_archive': Value('int64'), 'nbr_succes_grasp_in_archive': Value('int64'), 'nbr_cell_discovered': Value('int64')}
              because column names don't match
              
              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 1347, in compute_config_parquet_and_info_response
                  parquet_operations = convert_to_parquet(builder)
                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 980, in convert_to_parquet
                  builder.download_and_prepare(
                File "/usr/local/lib/python3.12/site-packages/datasets/builder.py", line 884, in download_and_prepare
                  self._download_and_prepare(
                File "/usr/local/lib/python3.12/site-packages/datasets/builder.py", line 947, in _download_and_prepare
                  self._prepare_split(split_generator, **prepare_split_kwargs)
                File "/usr/local/lib/python3.12/site-packages/datasets/builder.py", line 1739, in _prepare_split
                  for job_id, done, content in self._prepare_split_single(
                                               ^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/builder.py", line 1925, 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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generation int64	size_archive int64	nbr_succes_traj_in_archive int64	nbr_succes_grasp_in_archive int64	nbr_cell_discovered int64
2	16,737	86	121	16,737
3	21,971	131	196	21,971
4	26,188	192	260	26,188
5	29,896	226	298	29,896
6	33,210	267	337	33,210
7	36,302	296	365	36,302
8	39,002	320	393	39,002
9	41,574	348	422	41,574
10	44,016	374	451	44,016
11	46,205	387	474	46,205
12	48,288	407	494	48,288
13	50,290	422	516	50,290
14	52,328	433	534	52,328
15	54,258	446	543	54,258
16	56,135	466	570	56,135
17	57,945	482	589	57,945
18	59,689	503	616	59,689
19	61,371	520	638	61,371
20	63,054	534	658	63,054
21	64,680	546	683	64,680
22	66,205	565	703	66,205
23	67,790	581	725	67,790
24	69,331	600	748	69,331
25	70,876	619	764	70,876
26	72,376	635	793	72,376
27	73,923	649	813	73,923
28	75,425	670	840	75,425
29	76,914	693	877	76,914
30	78,482	706	896	78,482
31	80,013	728	921	80,013
32	81,497	745	952	81,497
33	82,942	765	978	82,942
34	84,423	790	1,015	84,423
35	85,970	811	1,047	85,970
36	87,411	830	1,082	87,411
37	88,895	853	1,110	88,895
38	90,313	869	1,134	90,313
39	91,710	899	1,173	91,710
40	93,053	918	1,198	93,053
41	94,364	941	1,220	94,364
42	95,642	972	1,261	95,642
43	96,930	999	1,294	96,930
44	98,147	1,030	1,332	98,147
45	99,340	1,054	1,364	99,340
46	100,515	1,078	1,389	100,515
47	101,676	1,106	1,421	101,676
48	102,820	1,136	1,464	102,820
49	103,984	1,167	1,501	103,984
50	105,092	1,202	1,533	105,092
51	106,167	1,234	1,581	106,167
52	107,262	1,271	1,619	107,262
53	108,294	1,304	1,661	108,294
54	109,320	1,338	1,698	109,320
55	110,295	1,354	1,720	110,295
56	111,216	1,371	1,749	111,216
57	112,183	1,398	1,788	112,183
58	113,107	1,438	1,822	113,107
59	114,057	1,460	1,855	114,057
60	114,929	1,493	1,892	114,929
61	115,842	1,518	1,919	115,842
62	116,676	1,545	1,951	116,676
63	117,510	1,564	1,974	117,510
64	118,337	1,593	2,008	118,337
65	119,143	1,625	2,046	119,143
66	119,951	1,651	2,079	119,951
67	120,764	1,669	2,102	120,764
68	121,539	1,696	2,134	121,539
69	122,269	1,721	2,161	122,269
70	123,024	1,743	2,185	123,024
71	123,760	1,764	2,206	123,760
72	124,459	1,779	2,225	124,459
73	125,162	1,800	2,247	125,162
74	125,852	1,812	2,267	125,852
75	126,509	1,820	2,280	126,509
76	127,198	1,840	2,302	127,198
77	127,843	1,857	2,320	127,843
78	128,472	1,874	2,341	128,472
79	129,128	1,896	2,365	129,128
80	129,756	1,918	2,390	129,756
81	130,397	1,932	2,407	130,397
82	131,018	1,957	2,435	131,018
83	131,649	1,971	2,454	131,649
84	132,225	1,984	2,474	132,225
85	132,823	2,004	2,492	132,823
86	133,394	2,014	2,506	133,394
87	133,959	2,026	2,520	133,959
88	134,575	2,043	2,542	134,575
89	135,175	2,058	2,555	135,175
90	135,773	2,070	2,569	135,773
91	136,344	2,076	2,577	136,344
92	136,891	2,088	2,597	136,891
93	137,413	2,100	2,611	137,413
94	138,002	2,114	2,626	138,002
95	138,508	2,124	2,636	138,508
96	139,022	2,141	2,656	139,022
97	139,576	2,154	2,665	139,576
98	140,095	2,167	2,675	140,095
99	140,629	2,174	2,682	140,629
100	141,131	2,186	2,694	141,131
101	141,604	2,199	2,708	141,604

End of preview.

Object-Centric Trajectory Dataset (Franka End-Effector in Object Frame)

This repository contains a dataset of object-centric cartesian trajectories generated with for Franka robotic arm. Each trajectory represents the motion of the FR3 end-effector expressed in the object coordinate frame. If you want to quickliy visualize outcome archive exemples, please go the following hugging face space : trajectory_primitive_visualisation_space

Dataset Overview

The dataset of trajectories is organized into outcome archive. Each outcome archive sotres diverse trajectory allowing to activate a specific activation primitive Here is the following folder convention for outcome archive storage: IdObject_TypeJoint_IndexJoint

What is an Object-Centric Trajectory?

Each trajectory describes the motion of the Franka end-effector relative to an object frame, rather than a world frame.

This means:

The object is the reference frame
The trajectory encodes how the robot interacts with the object
It is well-suited for generalization across object placements

Data Format

Each line in the dataset corresponds to a trajectory stored in JSON format. A trajectory contains a sequence of keyframes, and each entry includes the following metadata: Available Fields

object_to_grasp: target object for manipulation
joint_nature: type of joint interaction
item_joint_to_activate: active joint or control target

Visualization

RViz (ROS2 Deployment on Real Robot)

Trajectories can be directly visualized in RViz using ROS2.

Genesis Replay (QD-Trajectory Viewer)

Sotre the outcome archive in other_pkgs/resutls/ and run the replay mode.

contact

kappel@isir.upmc.fr

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Total file size:

179 MB