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Datasets:
minliu01
/
ManipGen-PartNet

Tasks:
Robotics
Languages:
English
Size:
100M<n<1B
License:
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The dataset viewer is not available for this subset.
Cannot get the split names for the config 'default' of the dataset.
Exception:    SplitsNotFoundError
Message:      The split names could not be parsed from the dataset config.
Traceback:    Traceback (most recent call last):
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/inspect.py", line 298, in get_dataset_config_info
                  for split_generator in builder._split_generators(
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/packaged_modules/webdataset/webdataset.py", line 78, in _split_generators
                  first_examples = list(islice(pipeline, self.NUM_EXAMPLES_FOR_FEATURES_INFERENCE))
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/packaged_modules/webdataset/webdataset.py", line 52, in _get_pipeline_from_tar
                  current_example[field_name] = cls.DECODERS[data_extension](current_example[field_name])
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/packaged_modules/webdataset/webdataset.py", line 299, in npy_loads
                  return numpy.lib.format.read_array(stream, allow_pickle=False)
                File "/src/services/worker/.venv/lib/python3.9/site-packages/numpy/lib/format.py", line 795, in read_array
                  raise ValueError("Object arrays cannot be loaded when "
              ValueError: Object arrays cannot be loaded when allow_pickle=False
              
              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/split_names.py", line 65, in compute_split_names_from_streaming_response
                  for split in get_dataset_split_names(
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/inspect.py", line 352, in get_dataset_split_names
                  info = get_dataset_config_info(
                File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/inspect.py", line 303, in get_dataset_config_info
                  raise SplitsNotFoundError("The split names could not be parsed from the dataset config.") from err
              datasets.inspect.SplitsNotFoundError: The split names could not be parsed from the dataset config.

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ManipGen-PartNet

ManipGen-PartNet is used to train grasp handle, open, and close policies in ManipGen.

The dataset contains 2K+ cabinet assets (drawers and doors) for training robotic manipulation policies in simulation. We sample 1K+ handles from PartNet and assemble them with procedually generated cabinet bodies.

Structure

  • meshdata: mesh and urdf
  • graspdata/: pre-sampled grasp poses for Franka arm with UMI gripper
  • trainset3419.txt: the list of 2655 objects used to train grasp handle, open, and close policies in ManipGen
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