Datasetpublic

CSCSXX/Franka_place_container_plate

This dataset was created using LeRobot. Dataset Description Franka Dual-Arm Place Container Plate Dataset Move the container to the plate. Hardware Robot: 2× Franka Emika Panda (7-DOF dual-arm setup) Cameras: 3× Intel RealSense D435 (256×256 RGB, front + wrist views) State Space (38 dimensions) Left Arm (19 dimensions): tcp_pose (6): End-effector pose [x, y, z, roll, pitch, yaw] in meters and radians tcp_vel (6): End-effector… See the full description on the dataset page: https://huggingface.co/datasets/CSCSXX/Franka_place_container_plate.

sourceHugging Faceapache-2.0updated 8mo agoView on Hugging Face

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Dataset Card

This dataset was created using LeRobot.

Dataset Description

Franka Dual-Arm Place Container Plate Dataset

Move the container to the plate.

Hardware

—Robot: 2× Franka Emika Panda (7-DOF dual-arm setup)
—Cameras: 3× Intel RealSense D435 (256×256 RGB, front + wrist views)

State Space (38 dimensions)

Left Arm (19 dimensions):

—tcp_pose (6): End-effector pose [x, y, z, roll, pitch, yaw] in meters and radians
—tcp_vel (6): End-effector velocity [vx, vy, vz, wx, wy, wz] in m/s and rad/s
—tcp_force (3): Force at end-effector [fx, fy, fz] in Newtons
—tcp_torque (3): Torque at end-effector [tx, ty, tz] in Newton-meters
—gripper_pose (1): Gripper opening (0=closed, 1=open)

Right Arm (19 dimensions): Same structure as left arm

Action Space (14 dimensions)

Left Arm (7 dimensions):

—delta_pose (6): Incremental pose change [dx, dy, dz, droll, dpitch, dyaw]
—gripper (1): Target gripper state (0=closed, 1=open)

Right Arm (7 dimensions): Same structure as left arm

—Homepage: [More Information Needed]
—Paper: [More Information Needed]
—License: apache-2.0

Dataset Structure

meta/info.json:

json

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    "robot_type": "franka",
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}

Citation

BibTeX:

bibtex

[More Information Needed]