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README.md
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| 1 |
+
---
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| 2 |
+
license: apache-2.0
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| 3 |
+
task_categories:
|
| 4 |
+
- robotics
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| 5 |
+
tags:
|
| 6 |
+
- LeRobot
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| 7 |
+
- franka
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| 8 |
+
- place_phone_stand
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| 9 |
+
- dual-arm
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| 10 |
+
- teleoperation
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| 11 |
+
configs:
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| 12 |
+
- config_name: default
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| 13 |
+
data_files: data/*/*.parquet
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| 14 |
+
---
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| 15 |
+
|
| 16 |
+
This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
|
| 17 |
+
|
| 18 |
+
## Dataset Description
|
| 19 |
+
|
| 20 |
+
|
| 21 |
+
# Franka Dual-Arm Place Phone Stand Dataset
|
| 22 |
+
|
| 23 |
+
Move the phone onto the phonestand.
|
| 24 |
+
|
| 25 |
+
## Hardware
|
| 26 |
+
- **Robot**: 2× Franka Emika Panda (7-DOF dual-arm setup)
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| 27 |
+
- **Cameras**: 3× Intel RealSense D435 (256×256 RGB, front + wrist views)
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| 28 |
+
|
| 29 |
+
|
| 30 |
+
### State Space (66 dimensions)
|
| 31 |
+
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| 32 |
+
**Left Arm (33 dimensions):**
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| 33 |
+
- `tcp_pose` (6): End-effector pose [x, y, z, roll, pitch, yaw] in meters and radians
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| 34 |
+
- `tcp_vel` (6): End-effector velocity [vx, vy, vz, wx, wy, wz] in m/s and rad/s
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| 35 |
+
- `tcp_force` (3): Force at end-effector [fx, fy, fz] in Newtons
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| 36 |
+
- `tcp_torque` (3): Torque at end-effector [tx, ty, tz] in Newton-meters
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| 37 |
+
- `gripper_pose` (1): Gripper opening (0=closed, 1=open)
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| 38 |
+
- `joint_pos` (7): Joint angles [q0-q6] in radians
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| 39 |
+
- `joint_vel` (7): Joint velocities [dq0-dq6] in rad/s
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| 40 |
+
|
| 41 |
+
**Right Arm (33 dimensions):** Same structure as left arm
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| 42 |
+
|
| 43 |
+
|
| 44 |
+
|
| 45 |
+
### Action Space (14 dimensions)
|
| 46 |
+
|
| 47 |
+
**Left Arm (7 dimensions):**
|
| 48 |
+
- `delta_pose` (6): Incremental pose change [dx, dy, dz, droll, dpitch, dyaw]
|
| 49 |
+
- `gripper` (1): Target gripper state (0=closed, 1=open)
|
| 50 |
+
|
| 51 |
+
**Right Arm (7 dimensions):** Same structure as left arm
|
| 52 |
+
|
| 53 |
+
|
| 54 |
+
|
| 55 |
+
- **Homepage:** [More Information Needed]
|
| 56 |
+
- **Paper:** [More Information Needed]
|
| 57 |
+
- **License:** apache-2.0
|
| 58 |
+
|
| 59 |
+
## Dataset Structure
|
| 60 |
+
|
| 61 |
+
[meta/info.json](meta/info.json):
|
| 62 |
+
```json
|
| 63 |
+
{
|
| 64 |
+
"codebase_version": "v2.1",
|
| 65 |
+
"robot_type": "franka",
|
| 66 |
+
"total_episodes": 101,
|
| 67 |
+
"total_frames": 29495,
|
| 68 |
+
"total_tasks": 1,
|
| 69 |
+
"total_videos": 303,
|
| 70 |
+
"total_chunks": 1,
|
| 71 |
+
"chunks_size": 1000,
|
| 72 |
+
"fps": 10,
|
| 73 |
+
"splits": {
|
| 74 |
+
"train": "0:101"
|
| 75 |
+
},
|
| 76 |
+
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 77 |
+
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| 78 |
+
"features": {
|
| 79 |
+
"image_front": {
|
| 80 |
+
"dtype": "video",
|
| 81 |
+
"shape": [
|
| 82 |
+
256,
|
| 83 |
+
256,
|
| 84 |
+
3
|
| 85 |
+
],
|
| 86 |
+
"names": [
|
| 87 |
+
"height",
|
| 88 |
+
"width",
|
| 89 |
+
"channel"
|
| 90 |
+
],
|
| 91 |
+
"info": {
|
| 92 |
+
"video.height": 256,
|
| 93 |
+
"video.width": 256,
|
| 94 |
+
"video.codec": "av1",
|
| 95 |
+
"video.pix_fmt": "yuv420p",
|
| 96 |
+
"video.is_depth_map": false,
|
| 97 |
+
"video.fps": 10,
|
| 98 |
+
"video.channels": 3,
|
| 99 |
+
"has_audio": false
|
| 100 |
+
}
|
| 101 |
+
},
|
| 102 |
+
"image_wrist_left": {
|
| 103 |
+
"dtype": "video",
|
| 104 |
+
"shape": [
|
| 105 |
+
256,
|
| 106 |
+
256,
|
| 107 |
+
3
|
| 108 |
+
],
|
| 109 |
+
"names": [
|
| 110 |
+
"height",
|
| 111 |
+
"width",
|
| 112 |
+
"channel"
|
| 113 |
+
],
|
| 114 |
+
"info": {
|
| 115 |
+
"video.height": 256,
|
| 116 |
+
"video.width": 256,
|
| 117 |
+
"video.codec": "av1",
|
| 118 |
+
"video.pix_fmt": "yuv420p",
|
| 119 |
+
"video.is_depth_map": false,
|
| 120 |
+
"video.fps": 10,
|
| 121 |
+
"video.channels": 3,
|
| 122 |
+
"has_audio": false
|
| 123 |
+
}
|
| 124 |
+
},
|
| 125 |
+
"image_wrist_right": {
|
| 126 |
+
"dtype": "video",
|
| 127 |
+
"shape": [
|
| 128 |
+
256,
|
| 129 |
+
256,
|
| 130 |
+
3
|
| 131 |
+
],
|
| 132 |
+
"names": [
|
| 133 |
+
"height",
|
| 134 |
+
"width",
|
| 135 |
+
"channel"
|
| 136 |
+
],
|
| 137 |
+
"info": {
|
| 138 |
+
"video.height": 256,
|
| 139 |
+
"video.width": 256,
|
| 140 |
+
"video.codec": "av1",
|
| 141 |
+
"video.pix_fmt": "yuv420p",
|
| 142 |
+
"video.is_depth_map": false,
|
| 143 |
+
"video.fps": 10,
|
| 144 |
+
"video.channels": 3,
|
| 145 |
+
"has_audio": false
|
| 146 |
+
}
|
| 147 |
+
},
|
| 148 |
+
"state": {
|
| 149 |
+
"dtype": "float32",
|
| 150 |
+
"shape": [
|
| 151 |
+
66
|
| 152 |
+
],
|
| 153 |
+
"names": [
|
| 154 |
+
"state"
|
| 155 |
+
]
|
| 156 |
+
},
|
| 157 |
+
"actions": {
|
| 158 |
+
"dtype": "float32",
|
| 159 |
+
"shape": [
|
| 160 |
+
14
|
| 161 |
+
],
|
| 162 |
+
"names": [
|
| 163 |
+
"actions"
|
| 164 |
+
]
|
| 165 |
+
},
|
| 166 |
+
"timestamp": {
|
| 167 |
+
"dtype": "float32",
|
| 168 |
+
"shape": [
|
| 169 |
+
1
|
| 170 |
+
],
|
| 171 |
+
"names": null
|
| 172 |
+
},
|
| 173 |
+
"frame_index": {
|
| 174 |
+
"dtype": "int64",
|
| 175 |
+
"shape": [
|
| 176 |
+
1
|
| 177 |
+
],
|
| 178 |
+
"names": null
|
| 179 |
+
},
|
| 180 |
+
"episode_index": {
|
| 181 |
+
"dtype": "int64",
|
| 182 |
+
"shape": [
|
| 183 |
+
1
|
| 184 |
+
],
|
| 185 |
+
"names": null
|
| 186 |
+
},
|
| 187 |
+
"index": {
|
| 188 |
+
"dtype": "int64",
|
| 189 |
+
"shape": [
|
| 190 |
+
1
|
| 191 |
+
],
|
| 192 |
+
"names": null
|
| 193 |
+
},
|
| 194 |
+
"task_index": {
|
| 195 |
+
"dtype": "int64",
|
| 196 |
+
"shape": [
|
| 197 |
+
1
|
| 198 |
+
],
|
| 199 |
+
"names": null
|
| 200 |
+
}
|
| 201 |
+
}
|
| 202 |
+
}
|
| 203 |
+
```
|
| 204 |
+
|
| 205 |
+
|
| 206 |
+
## Citation
|
| 207 |
+
|
| 208 |
+
**BibTeX:**
|
| 209 |
+
|
| 210 |
+
```bibtex
|
| 211 |
+
[More Information Needed]
|
| 212 |
+
```
|