CSCSXX/Franka_place_phone_stand

This dataset was created using LeRobot.

Dataset Description

Franka Dual-Arm Place Phone Stand Dataset

Move the phone onto the phonestand.

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:

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    "codebase_version": "v2.1",
    "robot_type": "franka",
    "total_episodes": 101,
    "total_frames": 29495,
    "total_tasks": 1,
    "total_videos": 303,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 10,
    "splits": {
        "train": "0:101"
    },
    "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": {
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        },
        "image_wrist_left": {
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        "state": {
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            "names": [
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        "actions": {
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            "names": [
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        "timestamp": {
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        "frame_index": {
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        "index": {
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        "task_index": {
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}

Citation

BibTeX:

[More Information Needed]