msbutt1/fr3-pick-place-lerobot

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FR3 Pick-and-Place LeRobot Dataset

A real-robot demonstration dataset for pick-and-place with a Franka Research 3 (FR3) robot.

Each successful episode records a cube being picked from a table position and placed into a basket. The dataset is stored in LeRobot format and contains synchronized RGB camera observations, FR3 robot state, gripper state, joint-velocity actions, and gripper-closedness actions.

Task

Pick up the cube and place it in the basket.

Hardware

• Franka Research 3 robot
• Two Intel RealSense RGB cameras
• Parallel gripper
• Table workspace with a fixed basket

Data Format

The policy-facing action representation is pi0.5-DROID compatible:

• 7 FR3 joint velocities
• 1 gripper closedness value
• 15 Hz control frequency

Successful recordings are validated before conversion to LeRobot. Failed or incomplete attempts are excluded from the released dataset.

Usage

from lerobot.datasets.lerobot_dataset import LeRobotDataset

dataset = LeRobotDataset("msbutt1/fr3-pick-place-lerobot")

See the accompanying FR3 robot-learning code repository for recording, conversion, training, and evaluation procedures.