|
|
--- |
|
|
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] |
|
|
``` |
