CSCSXX/Franka_place_container_plate_30_trajs_260321

---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- franka
- place_container_plate
- single-arm
- abs_joint
- teleoperation
configs:
- config_name: default
data_files: data/*/*.parquet
---

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

## Dataset Description

# Franka Single-Arm Place Container Plate Dataset

Move the container to the plate.

## Hardware
- **Robot**: 1× Franka Emika Panda (7-DOF each)
- **Cameras**: Intel RealSense D435 RGB views (front + wrist)

### State Space (33 dimensions)

**Left Arm (33 dimensions):**
- `tcp_force` (3): [tcp_force_x, tcp_force_y, tcp_force_z]
- `gripper_pose` (1): [gripper_pose]
- `joint_pos` (7): [q0, q1, q2, q3, q4, q5, q6]
- `joint_vel` (7): [dq0, dq1, dq2, dq3, dq4, dq5, dq6]
- `tcp_pose` (6): [tcp_pitch, tcp_roll, tcp_x, tcp_y, tcp_yaw, tcp_z]
- `tcp_torque` (3): [torque_x, torque_y, torque_z]
- `tcp_vel` (6): [tcp_vx, tcp_vy, tcp_vz, tcp_wx, tcp_wy, tcp_wz]

### Action Space (8 dimensions)

Action mode: `abs_joint`
Per arm:
- `joint_pos` (7) + `gripper_pose` (1), taken from next-step state

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

## Dataset Structure

[meta/info.json](meta/info.json):
```json
{
"codebase_version": "v2.1",
"robot_type": "franka",
"total_episodes": 30,
"total_frames": 3949,
"total_tasks": 1,
"total_videos": 60,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:30"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
"image_front": {
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"shape": [
256,
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],
"names": [
"height",
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],
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"state": {
"dtype": "float32",
"shape": [
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],
"names": [
"state"
]
},
"actions": {
"dtype": "float32",
"shape": [
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],
"names": [
"actions"
]
},
"image_wrist": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 256,
"video.width": 256,
"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": {
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"shape": [
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],
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},
"episode_index": {
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}
}
```

## Citation

**BibTeX:**

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

许可证：Apache-2.0
任务类别：
- 机器人学
标签：
- LeRobot
- Franka
- place_container_plate
- single-arm
- abs_joint
- teleoperation
配置项：
- config_name: default
data_files: data/*/*.parquet
---

本数据集基于[LeRobot](https://github.com/huggingface/lerobot)框架构建。

## 数据集说明
# Franka单臂放置容器至托盘数据集
将容器移动至托盘上。

## 硬件配置
- **机器人**：1台Franka Emika Panda机械臂（单臂具备7个自由度）
- **相机**：Intel RealSense D435 RGB相机（包含正前方相机与腕部相机）

### 状态空间（33维）
**左臂（33维）：**
- `tcp_force`（3维）：[tcp_force_x, tcp_force_y, tcp_force_z]
- `gripper_pose`（1维）：[夹爪姿态]
- `joint_pos`（7维）：[q0, q1, q2, q3, q4, q5, q6]
- `joint_vel`（7维）：[dq0, dq1, dq2, dq3, dq4, dq5, dq6]
- `tcp_pose`（6维）：[tcp_pitch, tcp_roll, tcp_x, tcp_y, tcp_yaw, tcp_z]
- `tcp_torque`（3维）：[torque_x, torque_y, torque_z]
- `tcp_vel`（6维）：[tcp_vx, tcp_vy, tcp_vz, tcp_wx, tcp_wy, tcp_wz]

### 动作空间（8维）
动作模式：`abs_joint`
单臂动作构成：由7维关节位置与1维夹爪姿态组成，数据取自下一时刻的状态。

- **项目主页**：[待补充更多信息]
- **论文**：[待补充更多信息]
- **许可证**：Apache-2.0

## 数据集结构
[meta/info.json](meta/info.json):
json
{
"codebase_version": "v2.1",
"robot_type": "franka",
"total_episodes": 30,
"total_frames": 3949,
"total_tasks": 1,
"total_videos": 60,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:30"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
"image_front": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 256,
"video.width": 256,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"has_audio": false
}
},
"state": {
"dtype": "float32",
"shape": [
33
],
"names": [
"state"
]
},
"actions": {
"dtype": "float32",
"shape": [
8
],
"names": [
"actions"
]
},
"image_wrist": {
"dtype": "video",
"shape": [
256,
256,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
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"video.is_depth_map": false,
"video.fps": 10,
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},
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},
"episode_index": {
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],
"names": null
},
"index": {
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1
],
"names": null
},
"task_index": {
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],
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}
}
}

## 引用
**BibTeX格式：**
bibtex
[More Information Needed]