Datasets:
metadata
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- franka
- beat_block_hammer
- dual-arm
- teleoperation
configs:
- config_name: default
data_files: data/*/*.parquet
This dataset was created using LeRobot.
Dataset Description
Franka Dual-Arm Beat Block Hammer Dataset
Pick the hammer and strike the block.
Hardware
- Robot: 2× Franka Emika Panda (7-DOF dual-arm setup)
- Cameras: 3× Intel RealSense D435 (256×256 RGB, front + wrist views)
State Space (38 dimensions)
Left Arm (19 dimensions):
tcp_pose(6): End-effector pose [x, y, z, roll, pitch, yaw] in meters and radianstcp_vel(6): End-effector velocity [vx, vy, vz, wx, wy, wz] in m/s and rad/stcp_force(3): Force at end-effector [fx, fy, fz] in Newtonstcp_torque(3): Torque at end-effector [tx, ty, tz] in Newton-metersgripper_pose(1): Gripper opening (0=closed, 1=open)
Right Arm (19 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
{
"codebase_version": "v2.1",
"robot_type": "franka",
"total_episodes": 102,
"total_frames": 18504,
"total_tasks": 1,
"total_videos": 306,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:102"
},
"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": [
38
],
"names": {
"dims": [
"left/tcp_x",
"left/tcp_y",
"left/tcp_z",
"left/tcp_roll",
"left/tcp_pitch",
"left/tcp_yaw",
"left/tcp_vx",
"left/tcp_vy",
"left/tcp_vz",
"left/tcp_wx",
"left/tcp_wy",
"left/tcp_wz",
"left/gripper_pos",
"left/force_x",
"left/force_y",
"left/force_z",
"left/torque_x",
"left/torque_y",
"left/torque_z",
"right/tcp_x",
"right/tcp_y",
"right/tcp_z",
"right/tcp_roll",
"right/tcp_pitch",
"right/tcp_yaw",
"right/tcp_vx",
"right/tcp_vy",
"right/tcp_vz",
"right/tcp_wx",
"right/tcp_wy",
"right/tcp_wz",
"right/gripper_pos",
"right/force_x",
"right/force_y",
"right/force_z",
"right/torque_x",
"right/torque_y",
"right/torque_z"
]
}
},
"actions": {
"dtype": "float32",
"shape": [
14
],
"names": {
"dims": [
"left/delta_x",
"left/delta_y",
"left/delta_z",
"left/delta_roll",
"left/delta_pitch",
"left/delta_yaw",
"left/gripper",
"right/delta_x",
"right/delta_y",
"right/delta_z",
"right/delta_roll",
"right/delta_pitch",
"right/delta_yaw",
"right/gripper"
]
}
},
"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:
[More Information Needed]