---
license: apache-2.0
task_categories:
- robotics
tags:
- manipulation
- vla
---

# Simulated Franka Pick-Cube Tactile Dataset in LeRobot Format
The dataset was generated using the [Robot Control Stack (RCS)](https://huggingface.co/papers/2509.14932). It is in LeRobot format and thus ready-to-train. The task is a simple "grasp the cuboid".
It is created by a [hardcoded trajectory planner](https://github.com/RobotControlStack/robot-control-stack/blob/master/examples/fr3/grasp_demo.py).
It contains tactile images from digit sensors attached to the fingers, rendered by [tacto](https://github.com/facebookresearch/tacto).

RCS is a flexible Gymnasium wrapper-based robot control interface made for robot learning and specifically Vision-Language-Action (VLA) models.
It unifies MuJoCo simulation and real world robot control with four supported robots: FR3/Panda, xArm7, UR5e and SO101. It ships with several pre-build apps including data collection via teleoperation and remote model inference.

Project page: https://robotcontrolstack.github.io/
RCS Code: https://github.com/RobotControlStack/robot-control-stack

## Dataset Structure

[meta/info.json](meta/info.json):
```json
{
    "codebase_version": "v3.0",
    "robot_type": "fr3",
    "total_episodes": 797,
    "total_frames": 194468,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:797"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "observation.images.image": {
            "dtype": "image",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "fps": 30.0
        },
        "observation.images.image2": {
            "dtype": "image",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "fps": 30.0
        },
        "observation.images.tactile_left": {
            "dtype": "image",
            "shape": [
                320,
                240,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "fps": 30.0
        },
        "observation.images.tactile_right": {
            "dtype": "image",
            "shape": [
                320,
                240,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "fps": 30.0
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                15
            ],
            "names": [
                "state"
            ],
            "fps": 30.0,
            "description": "joints (7) + gripper (0 close, 1 open) (1) + tau_ext (7)"
        },
        "action": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": [
                "action"
            ],
            "fps": 30.0
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}
```


## Citation
If you find this dataset or RCS useful for your work, please consider citing it:
```
@inproceedings{juelg2025robotcontrolstack,
  title={{Robot Control Stack}: {A} Lean Ecosystem for Robot Learning at Scale}, 
  author={Tobias J{\"u}lg and Pierre Krack and Seongjin Bien and Yannik Blei and Khaled Gamal and Ken Nakahara and Johannes Hechtl and Roberto Calandra and Wolfram Burgard and Florian Walter},
  year={2025},
  booktitle={Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
  note={Accepted for publication.}
}
```