Datasets:
File size: 5,074 Bytes
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license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- franka
- adjust_bottle
- dual-arm
- teleoperation
configs:
- config_name: default
data_files: data/*/*.parquet
---
This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
## Dataset Description
# Franka Dual-Arm Adjust Bottle Dataset
Lift the bottle head-up from the table.
## Hardware
- **Robot**: 2× Franka Emika Panda (7-DOF dual-arm setup)
- **Cameras**: 3× Intel RealSense D435 (256×256 RGB, front + wrist views)
### State Space (66 dimensions)
**Left Arm (33 dimensions):**
- `tcp_pose` (6): End-effector pose [x, y, z, roll, pitch, yaw] in meters and radians
- `tcp_vel` (6): End-effector velocity [vx, vy, vz, wx, wy, wz] in m/s and rad/s
- `tcp_force` (3): Force at end-effector [fx, fy, fz] in Newtons
- `tcp_torque` (3): Torque at end-effector [tx, ty, tz] in Newton-meters
- `gripper_pose` (1): Gripper opening (0=closed, 1=open)
- `joint_pos` (7): Joint angles [q0-q6] in radians
- `joint_vel` (7): Joint velocities [dq0-dq6] in rad/s
**Right Arm (33 dimensions):** Same structure as left arm
### Action Space (14 dimensions)
**Left Arm (7 dimensions):**
- `delta_pose` (6): Incremental pose change [dx, dy, dz, droll, dpitch, dyaw]
- `gripper` (1): Target gripper state (0=closed, 1=open)
**Right Arm (7 dimensions):** Same structure as left arm
- **Homepage:** [More Information Needed]
- **Paper:** [More Information Needed]
- **License:** apache-2.0
## Dataset Structure
[meta/info.json](meta/info.json):
```json
{
"codebase_version": "v2.1",
"robot_type": "franka",
"total_episodes": 85,
"total_frames": 25880,
"total_tasks": 1,
"total_videos": 255,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:85"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
"image_front": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"image_wrist_left": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"image_wrist_right": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"state": {
"dtype": "float32",
"shape": [
66
],
"names": [
"state"
]
},
"actions": {
"dtype": "float32",
"shape": [
14
],
"names": [
"actions"
]
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
```
## Citation
**BibTeX:**
```bibtex
[More Information Needed]
``` |