Datasets:
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actions list | obs dict |
|---|---|
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[
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[
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[
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[
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End of preview. Expand in Data Studio
lift_new — Franka "pick up the red cube" teleop demonstrations
103 teleoperated episodes collected on a Franka Emika arm (polymetis, Cartesian impedance) with two RealSense cameras, at 10 Hz. HDF5 per episode.
Per-episode HDF5 layout
actions[N,7]: delta-eef[dx,dy,dz](raw metres/step),[drx,dry,drz](=0, no rotation), gripper (-1=open / +1=close)obs/agentview_image[N,256,256,3] uint8obs/wrist_image[N,256,256,3] uint8obs/robot0_eef_pos[N,3],obs/robot0_eef_quat[N,4] (xyzw)obs/robot0_joint_pos[N,7]obs/gripper_width[N,1] (metres; ~0.08 open, closes to the grasped object width)
Provenance
- lift_new_0711_1317: 29 eps -> episode_0..28
- lift_new_0711_1326: 7 eps -> episode_29..35
- lift_new_0711_1329: 3 eps -> episode_36..38
- lift_new_0711_1330: 64 eps -> episode_39..102
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