Dataset Viewer

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 "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/json/json.py", line 257, in _generate_tables
                  pa_table = paj.read_json(
                             ^^^^^^^^^^^^^^
                File "pyarrow/_json.pyx", line 342, in pyarrow._json.read_json
                File "pyarrow/error.pxi", line 155, in pyarrow.lib.pyarrow_internal_check_status
                File "pyarrow/error.pxi", line 92, in pyarrow.lib.check_status
              pyarrow.lib.ArrowInvalid: JSON parse error: Column() changed from object to number in row 0
              
              During handling of the above exception, another exception occurred:
              
              Traceback (most recent call last):
                File "/usr/local/lib/python3.12/site-packages/datasets/inspect.py", line 286, in get_dataset_config_info
                  for split_generator in builder._split_generators(
                                         ^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/json/json.py", line 99, in _split_generators
                  pa_table = next(iter(self._generate_tables(**splits[0].gen_kwargs, allow_full_read=False)))[1]
                             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/json/json.py", line 271, in _generate_tables
                  batch = json_encode_fields_in_json_lines(original_batch, json_field_paths)
                          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/utils/json.py", line 111, in json_encode_fields_in_json_lines
                  examples = [ujson_loads(line) for line in original_batch.splitlines()]
                              ^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/utils/json.py", line 20, in ujson_loads
                  return pd.io.json.ujson_loads(*args, **kwargs)
                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
              ValueError: Expected object or value
              
              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 66, in compute_split_names_from_streaming_response
                  for split in get_dataset_split_names(
                               ^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/inspect.py", line 340, in get_dataset_split_names
                  info = get_dataset_config_info(
                         ^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/inspect.py", line 291, 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.

Need help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.

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Check out the documentation for more information.

Gripper Descriptions

Real-world gripper URDF descriptions, meshes, and configuration files for GraspGenX.

Supported Grippers

`abb_yumi` _{parallel_2f}	`arx_x5` _{revolute_2f}	`barrett_hand` _{revolute_3f}	`bd_spot` _{revolute_2f}	`dh_ag95` _{parallel_2f}	`ezgripper` _{revolute_2f}	`fetch_robot` _{parallel_2f}	`franka_panda` _{parallel_2f}
`franka_umi` _{parallel_2f}	`galaxea_g1` _{revolute_2f}	`inspire_hand` _{revolute_3f}	`onrobot_RG2` _{revolute_2f}	`onrobot_RG6` _{revolute_2f}	`piper_hand` _{revolute_2f}	`robotiq_2f_140` _{revolute_2f}	`robotiq_2f_85` _{revolute_2f}
`robotiq_3f` _{revolute_3f}	`robotiq_hande` _{parallel_2f}	`sawyer_hand` _{parallel_2f}	`schunk_wsg50` _{parallel_2f}	`sharpa_wave` _{revolute_3f}	`surge_hand` _{revolute_3f}	`tesollo_delto2f` _{revolute_2f}	`unitree_g1` _{revolute_2f}
`wuji_hand` _{revolute_3f}	`xarm_hand` _{revolute_2f}

Installation

pip install -e .

Or directly from the repository:

pip install -e git+ssh://git@gitlab-master.nvidia.com:12051/rays2torques/graspgen/gripper_descriptions.git#egg=gripper_descriptions

If the git lfs clone failed, download the assets from: https://drive.google.com/file/d/1_GlOZjy5treLxb3Q30V3VdMlssOIWdy0/view?usp=sharing and put it under gripper_descriptions/assets/ .

Usage

import gripper_descriptions

# Get path to all gripper assets
assets_path = gripper_descriptions.get_assets_path()

# Get path to a specific gripper
gripper_path = gripper_descriptions.get_gripper_path("robotiq_2f_85")

# List all available grippers
print(gripper_descriptions.list_grippers())
print(gripper_descriptions.AVAILABLE_GRIPPERS)

With GraspGenX

Once installed, GraspGenX automatically discovers gripper assets from this package:

from graspgenx.x_grippers import get_gripper_info
import gripper_descriptions

gripper = get_gripper_info(gripper_descriptions.get_assets_path(), "robotiq_2f_85")

Visualization

# Visualize a single gripper
python -m gripper_descriptions.scripts.vis_gripper --gripper robotiq_2f_85

# Animate open/close
python -m gripper_descriptions.scripts.vis_gripper --gripper robotiq_2f_85 --animate

# Show all grippers in a grid
python -m gripper_descriptions.scripts.vis_all_grippers

# List available grippers
python -m gripper_descriptions.scripts.vis_gripper --list-grippers

Asset Structure

Each gripper directory contains:

File	Description
`gripper.urdf`	URDF with mesh paths relative to `meshes/`
`meshes/`	STL/OBJ mesh files referenced by the URDF
`config.json`	Joint configs (open/close), fingertip, sweep volume, type
`vis_mesh.obj`	Merged visual mesh (open configuration)
`coll_mesh.obj`	Merged collision mesh (open configuration)
`points.json`	Surface point clouds (open/close, 10500 pts each)
`selected_pts.json`	Inner-surface point clouds (open/mid/close)
`tsdf.npy`	Truncated signed distance fields
`proc_gripper_only_pointnet_vae_repr.json`	PointNet VAE embedding (64-D)

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