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Datasets:
nullPointerExcept1on
/
franka_task3_conveyor_pick

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
franka
robotiq-2f85
pick-and-place
conveyor
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
xet
 Community
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task3 conveyor pick 100 episodes (delta actions)

Browse files
Files changed (8) hide show
  1. README.md +24 -0
  2. data/chunk-000/file-000.parquet +3 -0
  3. meta/episodes/chunk-000/file-000.parquet +3 -0
  4. meta/info.json +142 -0
  5. meta/stats.json +659 -0
  6. meta/tasks.parquet +3 -0
  7. videos/observation.images.front/chunk-000/file-000.mp4 +3 -0
  8. videos/observation.images.wrist/chunk-000/file-000.mp4 +3 -0
README.md ADDED
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+ ---
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+ license: apache-2.0
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+ tags:
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+ - LeRobot
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+ - franka
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+ - robotiq-2f85
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+ - pick-and-place
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+ - conveyor
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+ task_categories:
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+ - robotics
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+ ---
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+
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+ # Franka task3 — conveyor can pick-and-place (Isaac Sim)
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+
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+ Franka FR3 + Robotiq 2F-85 가 컨베이어 벨트 위의 통조림 캔을 집어 통에 담는
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+ 시연 100 에피소드 (Isaac Sim 5.1 / Isaac Lab 2.3 / NVlabs RoboLab, code-as-policy 수집).
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+
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+ - 형식: LeRobot Dataset (lerobot 0.6.x 네이티브)
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+ - 관측: `observation.images.front` `observation.images.wrist` (480x270, 6 fps),
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+ `observation.state` = EEF pos(3)+quat(4)+gripper(1)
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+ - 액션: 상대 EEF 델타 [dx dy dz droll dpitch dyaw gripper] — 로봇 명령 공간 그대로
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+ - 벨트 1.5 m/분(±15% 흔들림), 캔 간격 0.14 m, 캔 4종(라벨만 다르고 물성 동일)
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+ - 대상 선택: 출구 30% 구간 우선, 40% 확률로 두 번째 캔 (실현 35%)
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+ - 성공 시연만 저장, 소요 시간이 중앙값의 1.4배를 넘는 에피소드 제거
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