cawm

Real-robot teleoperation data collected on a Franka Panda arm.

real/usb_insertion

23 episodes of a USB-connector insertion task, teleoperated with a 3Dconnexion SpaceMouse and recorded at 10 Hz.

episodes	23
steps	62,265
duration	103.8 min
rate	10 Hz
format	HDF5, one file per episode (episode_0.hdf5 … episode_22.hdf5)

Contents of each file

obs/robot0_eef_pos                      (N, 3)          float32   measured EE position (m)
obs/robot0_eef_quat                     (N, 4)          float32   measured EE orientation, xyzw
obs/robot0_joint_pos                    (N, 7)          float32   joint angles (rad)
obs/gripper_width                       (N, 1)          float32   Franka Hand finger separation (m)
obs/images/cameras_agentview_rgb        (N, 224, 224, 3) uint8    fixed scene camera (RealSense D435i)
obs/images/cameras_wrist_rgb            (N, 224, 224, 3) uint8    wrist camera (RealSense D405)
obs/tactile/tactile_force_grid_left     (N, 16, 32)     float32   FlexiTac contact map, normalised
obs/tactile/tactile_force_grid_right    (N, 16, 32)     float32   see caveat below
actions                                 (N, 7)          float32   see below

File attributes: num_samples, action_dim, init_eef_pos (3,), init_eef_quat (4,).

Action space

7-dimensional, commanded deltas rather than achieved motion:

index	meaning
[0:3]	delta EE position, metres, base frame
[3:6]	delta EE rotation, axis-angle rotvec, radians, base frame (extrinsic)
[6]	gripper: +1 = closed, -1 = open

Observations are captured before the action is applied, so each (obs, action) pair is the state the operator saw and the command they gave in response. The commanded trajectory is init_eef_pos + cumsum(actions[:, :3]); the measured pose is obs/robot0_eef_pos, and the two differ where the impedance controller lagged the target (max 2.4–3.3 cm across these episodes).

Images are stored at the cropped 224×224 resolution used for training. The full uncropped sensor frames were never recorded.

Caveats — please read before training

Several dimensions are constant by construction and carry no signal:

• actions[3:6] is exactly zero in every step of every episode. Orientation was locked during collection, so the arm holds the orientation it homed at for the whole episode. This is a translation-only dataset.
• actions[6] is +1.0 everywhere. The gripper closes before recording starts and never reopens, so no grasp or release event appears in the data.
• gripper_width is ~0 throughout (−0.007 … 0.009 mm). The connector is held by a printed fixture rather than between the fingertips, so the fingers meet.
• tactile_force_grid_right is a byte-exact duplicate of ..._left. The rig has one FlexiTac pad; the second key was added so the schema matches a two-finger setup. It contains no independent measurement.

|dpos| reaches at most 6.00 mm per step (0.06 m/s at 10 Hz).

Provenance and validation

Merged from three collection sessions (2026-08-13 and 2026-08-19); real/usb_insertion/merge_manifest.txt maps each episode back to its source file.

Every episode was checked frame by frame before upload: no duplicate/stalled camera frames, no NaN/inf, consistent dataset lengths, and an identical schema across all 23 files.

License

Not specified by the authors. Please contact the repository owner before use.