Datasets:
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observation.state list | action list | timestamp float32 0 29.2 ⌀ | frame_index int64 0 175 ⌀ | episode_index int64 0 99 ⌀ | index int64 0 14.2k ⌀ | task_index int64 0 0 ⌀ |
|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
Franka task3 — conveyor can pick-and-place (Isaac Sim)
Franka FR3 + Robotiq 2F-85 가 컨베이어 벨트 위의 통조림 캔을 집어 통에 담는 시연 100 에피소드 (Isaac Sim 5.1 / Isaac Lab 2.3 / NVlabs RoboLab, code-as-policy 수집).
- 형식: LeRobot Dataset (lerobot 0.6.x 네이티브)
- 관측:
observation.images.frontobservation.images.wrist(480x270, 6 fps),observation.state= EEF pos(3)+quat(4)+gripper(1) - 액션: 상대 EEF 델타 [dx dy dz droll dpitch dyaw gripper] — 로봇 명령 공간 그대로
- 벨트 1.5 m/분(±15% 흔들림), 캔 간격 0.14 m, 캔 4종(라벨만 다르고 물성 동일)
- 대상 선택: 출구 30% 구간 우선, 40% 확률로 두 번째 캔 (실현 35%)
- 성공 시연만 저장, 소요 시간이 중앙값의 1.4배를 넘는 에피소드 제거
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