Search is not available for this dataset
state list | actions list | timestamp float32 0 17.1 | frame_index int64 0 171 | episode_index int64 0 29 | index int64 0 3.95k | task_index int64 0 0 |
|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Description
Franka Single-Arm Place Container Plate Dataset
Move the container to the plate.
Hardware
- Robot: 1× Franka Emika Panda (7-DOF each)
- Cameras: Intel RealSense D435 RGB views (front + wrist)
State Space (33 dimensions)
Left Arm (33 dimensions):
tcp_force(3): [tcp_force_x, tcp_force_y, tcp_force_z]gripper_pose(1): [gripper_pose]joint_pos(7): [q0, q1, q2, q3, q4, q5, q6]joint_vel(7): [dq0, dq1, dq2, dq3, dq4, dq5, dq6]tcp_pose(6): [tcp_pitch, tcp_roll, tcp_x, tcp_y, tcp_yaw, tcp_z]tcp_torque(3): [torque_x, torque_y, torque_z]tcp_vel(6): [tcp_vx, tcp_vy, tcp_vz, tcp_wx, tcp_wy, tcp_wz]
Action Space (8 dimensions)
Action mode: abs_joint
Per arm:
joint_pos(7) +gripper_pose(1), taken from next-step stateHomepage: [More Information Needed]
Paper: [More Information Needed]
License: apache-2.0
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "franka",
"total_episodes": 30,
"total_frames": 3949,
"total_tasks": 1,
"total_videos": 60,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:30"
},
"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
}
},
"state": {
"dtype": "float32",
"shape": [
33
],
"names": [
"state"
]
},
"actions": {
"dtype": "float32",
"shape": [
8
],
"names": [
"actions"
]
},
"image_wrist": {
"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
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
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],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
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],
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},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
BibTeX:
[More Information Needed]
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