mousecpn/Traj100k-Dataset

The simulation dataset for Robot Trajectron

Traj100k-Dataset

The simulation dataset for Robot Trajectron

Environment

• pybullet
• pybullet_data
• numpy==1.10.1
• scipy==1.23.5
• pickle
• roboticstoolbox-python: https://github.com/petercorke/robotics-toolbox-python.git

Usage

python franka_6dof_grasp.py

You can set p.connect(p.DIRECT) to turn off the GUI.

Resource

Traj20k: https://drive.google.com/file/d/15zTIHrGuqgVaRn25XFDkFFyS3WRXeQFu/view?usp=sharing Traj100k: https://drive.google.com/file/d/1fWqWSdz_1JdXFAICy4OSCnqosn7emGa2/view?usp=sharing

Traj20k (traj_fre20_noisy_20000.json) is a mini-version of Traj100k. Both datasets contain the following attributes:

• ee_log: Trajectories represented by the Cartesian position of the end-effector (Main)
• joint_pos_log: Trajectories represented by the joint position of the arm
• joint_vel_log: Velocity information of the trajectories
• frequency: sampling frequency