jaeikkim/fr3_gello_20260817_145826
This dataset was created using LeRobot. Dataset Description A real-world Franka Research 3 teleoperation demonstration collected with a GELLO leader. The LeRobot v3.0 episode contains measured FR3 joint actions and states, normalized gripper targets, measured gripper width, raw GELLO state, end-effector pose, synchronization metadata, and three RGB camera views (two side views and one gripper-mounted view). Homepage:… See the full description on the dataset page: https://huggingface.co/datasets/jaeikkim/fr3_gello_20260817_145826.
This dataset was created using LeRobot.
Dataset Description
A real-world Franka Research 3 teleoperation demonstration collected with a GELLO leader. The LeRobot v3.0 episode contains measured FR3 joint actions and states, normalized gripper targets, measured gripper width, raw GELLO state, end-effector pose, synchronization metadata, and three RGB camera views (two side views and one gripper-mounted view).
- Homepage: https://huggingface.co/datasets/jaeikkim/fr3gello20260817_145826
- Paper: [More Information Needed]
- License: apache-2.0
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "fr3_gello",
"total_episodes": 1,
"total_frames": 918,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 15,
"splits": {
"train": "0:1"
},
"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": {
"action": {
"dtype": "float32",
"shape": [
8
],
"names": [
"fr3_joint1.demonstrated_position_rad",
"fr3_joint2.demonstrated_position_rad",
"fr3_joint3.demonstrated_position_rad",
"fr3_joint4.demonstrated_position_rad",
"fr3_joint5.demonstrated_position_rad",
"fr3_joint6.demonstrated_position_rad",
"fr3_joint7.demonstrated_position_rad",
"gripper.target_normalized"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
8
],
"names": [
"fr3_joint1.position_rad",
"fr3_joint2.position_rad",
"fr3_joint3.position_rad",
"fr3_joint4.position_rad",
"fr3_joint5.position_rad",
"fr3_joint6.position_rad",
"fr3_joint7.position_rad",
"gripper.width_m"
]
},
"observation.gello_state": {
"dtype": "float32",
"shape": [
8
],
"names": [
"gello_joint1.position_rad",
"gello_joint2.position_rad",
"gello_joint3.position_rad",
"gello_joint4.position_rad",
"gello_joint5.position_rad",
"gello_joint6.position_rad",
"gello_joint7.position_rad",
"gripper.target_normalized"
]
},
"observation.ee_pose": {
"dtype": "float32",
"shape": [
7
],
"names": [
"x_m",
"y_m",
"z_m",
"qx",
"qy",
"qz",
"qw"
]
},
"metadata.sensor_age_ms": {
"dtype": "float32",
"shape": [
7
],
"names": [
"gello_joints",
"gello_gripper",
"franka_state",
"franka_gripper",
"camera_side_a",
"camera_side_b",
"camera_gripper"
]
},
"metadata.capture_monotonic_s": {
"dtype": "float64",
"shape": [
8
],
"names": [
"sample",
"gello_joints",
"gello_gripper",
"franka_state",
"franka_gripper",
"camera_side_a",
"camera_side_b",
"camera_gripper"
]
},
"metadata.camera_device_timestamp_ms": {
"dtype": "float64",
"shape": [
3
],
"names": [
"side_a",
"side_b",
"gripper"
]
},
"metadata.camera_frame_number": {
"dtype": "int64",
"shape": [
3
],
"names": [
"side_a",
"side_b",
"gripper"
]
},
"metadata.bridge_sequence": {
"dtype": "int64",
"shape": [
1
],
"names": [
"sequence"
]
},
"observation.images.side_a": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.side_b": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.gripper": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 15,
"video.channels": 3,
"has_audio": false
}
},
"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
BibTeX:
[More Information Needed]