onground/lerobot_franka

Franka Panda real-robot teleop datasets (LeRobot v3)

Four manipulation tasks captured on a Franka Panda by replaying teleop rosbags via the bag-to-LeRobot pipeline. The full conversion script, proprio/action contract, and rollout inverse mapping are in ONground-Korea/3DA — see docs/realrobot-finetune-franka.md (training side) and docs/realrobot-franka-deploy-handoff.md (deploy side).

Layout

local__lerobot_franka_pickplace/   # 284 episodes, 43,328 frames
local__lerobot_franka_chocomilk/   # 202 episodes, 84,435 frames
local__lerobot_franka_kitchen/     # 184 episodes, 64,619 frames
local__lerobot_franka_pot/         # 169 episodes, 63,002 frames

Each task directory follows the LeRobot v3 schema:

meta/
  info.json                # codebase_version=v3.0, fps=15, features, splits
  tasks.parquet            # task_index <-> task description string
  task_prompts.json        # human-readable mirror of tasks.parquet
  episodes/...             # per-episode metadata
  stats.json               # dataset-emitted column stats
data/chunk-000/file-*.parquet                              # episode rows
videos/observation.images.{external_image,wrist_image}/chunk-000/file-*.mp4
                                                          # AV1 video, 720x1280

Per-row schema:

column	dtype	shape	meaning
observation.state	float32	(7,)	Franka 7-DOF joint angles (rad) — not EEF pose
action	float32	(7,)	[dx_eef, dy_eef, dz_eef, drx_eef, dry_eef, drz_eef, gripper] per-step EEF-frame delta, axis-angle rotation, gripper saved as 1=open / 0=close (canonical project convention is 0=open / 1=close, so set invert_gripper=True on the spec)
observation.images.external_image	video	(720,1280,3)	RGB, AV1-encoded
observation.images.wrist_image	video	(720,1280,3)	RGB, AV1-encoded
timestamp, frame_index, episode_index, index, task_index	int64/float32	(1,)	LeRobot metadata

Task prompts (literal strings, do not paraphrase at rollout)

task	prompt
pickplace	Pick up the cube and place it on the plate.
chocomilk	Pick up the chocolate milk and place it on top of the white milk, then pick up the cube and stack it on top of the chocolate milk.
kitchen	Pick up the pot and place it on the bottom section of the induction cooktop, then pick up the pan and place it on the top section of the induction cooktop.
pot	Open the lid of the pot, put the yellow cube inside the pot, and close the lid again.

How to download

huggingface-cli download onground/lerobot_franka --repo-type dataset \
  --local-dir ./lerobot_franka

or in Python:

from huggingface_hub import snapshot_download
snapshot_download(
    repo_id="onground/lerobot_franka",
    repo_type="dataset",
    local_dir="./lerobot_franka",
)