Dataset list

Demonstrations in MuJoCo environments

Dataset	Environment	Operation method	# Demo	Date	Link
TeleopMujocoUR5eCable_Dataset30	MujocoUR5eCable	3D mouse	30	10/31/2024	Download (9GB)
TeleopMujocoUR5eRing_Dataset30	MujocoUR5eRing	3D mouse	30	10/31/2024	Download (8GB)
TeleopMujocoUR5eParticle_Dataset30	MujocoUR5eParticle	3D mouse	30	10/31/2024	Download (13GB)
TeleopMujocoUR5eCloth_Dataset30	MujocoUR5eCloth	3D mouse	30	10/31/2024	Download (8GB)

Dataset	Environment	Operation method	# Demo	Date	Link
TeleopRealUR5eFoldBlueHandkerchief_Dataset30	RealUR5eDemo	3D mouse	30	11/15/2024	Download (3.1GB)

Each demonstration data is saved as an npz file. The npz file contains the following entries.

Entry	Description	Shape	Dtype
`time`	Time	`(T,)`	`float64`
`measured_joint_pos`	Measured joint position [rad]	`(T, JointDim)`	`float64`
`command_joint_pos`	Command joint position [rad]	`(T, JointDim)`	`float64`
`measured_joint_vel`	Measured joint velocity [rad/s]	`(T, JointDim)`	`float64`
`command_joint_vel`	Not set
`measured_joint_torque`	Not set
`command_joint_torque`	Not set
`measured_eef_pose`	Measured pose of end-effector [m], [rad]	`(T, PoseDim)`	`float64`
`command_eef_pose`	Command pose of end-effector [m], [rad]	`(T, PoseDim)`	`float64`
`measured_eef_vel`	Not set
`command_eef_vel`	Not set
`measured_eef_wrench`	Measured force and torque of end-effector [N], [Nm]	`(T, WrenchDim)`	`float64`
`command_eef_wrench`	Not set
`<camera_name>_rgb_image`	RGB image (*1)	`(T,)`	`object`
`<camera_name>_depth_image`	Depth image	`(T, Height, Width)`	`float32`
`<camera_name>_depth_image_fovy`	Field of view of depth image height	`()`	`float64`
`format`	Data format (fixed with `"RoboManipBaselines-TeleopData"`)	`()`	`str`
`version`	Version of RoboManipBaselines	`()`	`str`
`demo`	Demonstration name	`()`	`str`
`world_idx`	World index	`()`	`int64`

T is the length of the time sequence, JointDim is the number of joints, PoseDim = 7 is pose (tx, ty, tz, qw, qx, qy, qz), WrenchDim = 6 is wrench (fx, fy, fz, nx, ny, nz), respectively.
*1: RGB images are compressed in JPEG using cv2.imencode.