README.md

metadata

license: mit
tags:
  - robotics
  - franka
  - maniskill
  - simulation
  - lerobot

manip_dataset: FR3 simulated manipulation demos (8 tasks)

Scripted successful demonstrations of a Franka Research 3 arm in ManiSkill3, recorded for fine-tuning pi0.5. Only successful episodes are kept. 3200 episodes in total.

task (env id)	episodes	prompt
BlockBalance-v1	400	place the beam on the red cube, then put one cube on each side of the beam so that it stays balanced
CarryStackToShelf-v1	400	move the box onto the shelf while keeping the small cube on top
LoadAndMovePlate-v1	400	place the blue cube on the plate, then move the plate with the cube to the red zone
PourMarbles-v1	400	pick up the cup with the marbles, pour them into the empty cup and put the cup back on the red square
PutBlocksInBin-v1	400	put all the cubes in the bin
SlidePuckToTarget-v1	400	slide the red puck so it stops on the green target
SortThenStackFR3-v1	400	drag the blue cube into the red zone, then stack the yellow cube on it
StackCubeFR3-v1	400	stack the red cube on top of the green cube

• Cameras: front (external right), wrist, external_left (opposite external view); 224x224 RGB.
• Rates: control 20 Hz; images and the export at 10 Hz.
• Randomization: object positions / yaws / sizes per task (all objects at least 15 cm from the table edges), robot start-pose joint noise (sigma 0.1 rad, clipped at 2 sigma). Domain randomization (lighting, camera pose, image noise, latencies) is off.
• Controller: pd_ee_target_pose (Cartesian end-effector target pose + gripper width).

Layout

• raw/<EnvId>/: all 400 episodes of a task (seeds 0..447 from the first recording, 1000.. from the second; same settings).
  • scripted_pd_ee_target_pose.{h5,json} (seeds 0..) and scripted_pd_ee_target_pose_seed1000.{h5,json} (seeds 1000..): full 20 Hz trajectories (qpos, qvel, joint torques, TCP pose, actions, success) with 10 Hz images of the 3 cameras, ManiSkill trajectory format.
  • export_oopsie_10hz/sim_<seed>.h5 + sim_<seed>_<camera>.mp4: 10 Hz Oopsie export (Cartesian states / targets, videos).
  • recorder_seed0.log, recorder_seed1000.log: every attempt with its seed and outcome.