| | ---
|
| | license: cc-by-4.0
|
| | task_categories:
|
| | - robotics
|
| | language:
|
| | - en
|
| | tags:
|
| | - rlds
|
| | - ur3
|
| | size_categories:
|
| | - n<1K
|
| | ---
|
| | 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 |
| | --- |
