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This repo contains a robotic dataset of 300 episodes across three manipulation tasks, stored in RLDS fromat. The data was collected on UR3 robot, using MoCap-based teleoperation system with force feedback.
For all tasks, state observation consists of:
- An RGB image (128 × 128) captured from a wrist-mounted camera;
- An RGB-D image (256 × 256) from a side-mounted RealSense D455 camera;
- The robot’s proprioceptive state, including end-effector pose and joint angles;
- Gripper position and force sensor readings, standardized to the range [0, 1].
The action space is defined as a 7-dimensional vector, comprising:
- A 6-dimensional delta displacement for joint angles,
- 1-dimensional delta value for gripper position, standardized to the range [-1, 1].
The frequency of data collection was fixed at 10Hz.
The selected objects for manipulation included a shampoo bottle, a tomato, and a tube of toothpaste.
Each trajectory starts from the robot's home position and ends when the robot successfully grasps the object and lifts it approximately 10 cm above the table surface.
license: cc-by-4.0
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