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language:
- en
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# Object-Centric Trajectory Dataset (Franka End-Effector in Object Frame)
This repository contains a dataset of object-centric cartesian trajectories generated with for Franka robotic arm. Each trajectory represents the motion of the FR3 end-effector expressed in the object coordinate frame. 
If you want to quickliy visualize outcome archive exemples, please go the following hugging face space :  [trajectory_primitive_visualisation_space](https://huggingface.co/spaces/mathildekappel/trajectory_primitive_visualisation_space ) 

## Dataset Overview 
The dataset of trajectories is organized into outcome archive. Each outcome archive sotres diverse trajectory allowing to activate a specific activation primitive Here is the following folder convention for outcome archive storage: 
IdObject_TypeJoint_IndexJoint 

## What is an Object-Centric Trajectory?
Each trajectory describes the motion of the Franka end-effector relative to an object frame, rather than a world frame.

This means:

- The object is the reference frame
- The trajectory encodes how the robot interacts with the object
- It is well-suited for generalization across object placements

## Data Format 
Each line in the dataset  corresponds to a trajectory stored in JSON format. A trajectory contains a sequence of keyframes, and each entry includes the following metadata:
Available Fields
- object_to_grasp: target object for manipulation
- joint_nature: type of joint interaction
- item_joint_to_activate: active joint or control target

## Visualization 
### RViz (ROS2 Deployment on Real Robot)
Trajectories can be directly visualized in RViz using ROS2.

### Genesis Replay (QD-Trajectory Viewer)
Sotre the outcome archive in other_pkgs/resutls/ and run the replay mode.

### contact 
kappel@isir.upmc.fr