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README.md

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+---
+license: apache-2.0
+task_categories:
+- robotics
+tags:
+- LeRobot
+- franka
+- Franka_place_containter_plate
+- 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 Franka Place Containter Plate Dataset
+
+Move the container to the plate.
+
+## 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 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)
+
+**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
+
+[meta/info.json](meta/info.json):
+```json
+{
+    "codebase_version": "v2.1",
+    "robot_type": "franka",
+    "total_episodes": 100,
+    "total_frames": 13278,
+    "total_tasks": 1,
+    "total_videos": 300,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 10,
+    "splits": {
+        "train": "0:100"
+    },
+    "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:**
+
+```bibtex
+[More Information Needed]
+```