| --- |
| 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. |
| |
