CSCSXX/Franka_blocks_ranking_rgb_106_trajs_260426

---
task_categories:
- robotics
tags:
- LeRobot
- franka
configs:
- config_name: default
data_files: data/*/*.parquet
---

This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).

<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=CSCSXX/Franka_blocks_ranking_rgb_106_trajs_260426">
<img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/>
<img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/>
</a>

## Dataset Description

Converted from raw Franka recordings into LeRobot v3.0 format.

### Summary

| Field | Value |
| --- | --- |
| Repo ID | `CSCSXX/Franka_blocks_ranking_rgb_106_trajs_260426` |
| Robot | `franka` |
| Target FPS | `10` |
| Episodes | 106 |
| Frames | 62497 |
| Tasks | `Set the red block, the green block, and the blue block side by side in the order of red, green, then blue.` |
| Convert Config | `.\configs\PKU_2613\convert_blocks_ranking_rgb.yaml` |
| Raw Data Dir | `data\20260426\blocks_ranking_rgb` |

### Observation And Action Layout

| Feature | Shape | Description |
| --- | --- | --- |
| `observation.state` | `8` | `joint_pos`<br>`gripper_width` |
| `action` | `8` | `joint_position` next-step target + gripper |

| Action Component | Definition |
| --- | --- |
| Arm action | `joint_pos[t+1]` |
| Gripper action | `discrete` (`>= 0.064` -> 1, `< 0.064` -> 0) |
| State gripper | `gripper_width` continuous |

### Cameras

| Camera | Output Shape | Crop | Resize |
| --- | --- | --- | --- |
| `camera_front` | `224x224x3` | `top=0, bottom=0, left=0, right=0` | `224x224` |
| `camera_wrist` | `224x224x3` | `top=0, bottom=0, left=280, right=0` | `224x224` |

### Resampling

| Stream | Alignment |
| --- | --- |
| `robot_state/*` | nearest timestamp |
| `camera/*` | nearest timestamp |
| `gripper_width` | linear interpolation |

- **Homepage:** [More Information Needed]
- **Paper:** [More Information Needed]
- **License:** [More Information Needed]

## Dataset Structure

[meta/info.json](meta/info.json):
```json
{
"codebase_version": "v3.0",
"robot_type": "franka",
"total_episodes": 106,
"total_frames": 62497,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 10,
"splits": {
"train": "0:106"
},
"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": {
"observation.state": {
"dtype": "float32",
"shape": [
8
],
"names": null
},
"action": {
"dtype": "float32",
"shape": [
8
],
"names": null
},
"observation.images.camera_front": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.camera_wrist": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"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:**

```bibtex
[More Information Needed]
```