moonjongsul/manufacturing-kitting-smolvla
Robotics • Updated • 45
Datasets:
Search is not available for this dataset
action list | observation.state list | timestamp float32 0 71.2 | frame_index int64 0 2.14k | episode_index int64 0 127 | index int64 0 93.1k | task_index int64 0 0 |
|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Structure
[More Information Needed]
Citation
BibTeX:
[More Information Needed]
Task Description
Pick parts from a supply area, reorient each part by flipping or rotating to the correct orientation, and place it precisely into the kitting tray.
Robot Setup
- Robot: Franka FR3
- Gripper: DXL Parallel Gripper
- Teleoperation: GELLO
- Cameras:
wrist_front: Wrist-mounted front camerawrist_rear: Wrist-mounted rear camerafront_view: Front view cameraside_view: Side view camera
Data Collection
- Operator: Moon Jongsul (KETI)
- Collection date: 2026-04
- Location: KETI Robotics Lab
- Episodes: 128
- Total frames: 93090
- FPS: 30
- Episode duration: ~24.2s avg
- Warmup removed: 1.5s per episode
Action Space
| Index | Name | Description |
|---|---|---|
| 0–6 | joint_1 ~ joint_7 |
GELLO arm joint angles (rad) |
| 7 | gripper_width |
Target gripper width (%) |
Observation Space
| Index | Name | Description |
|---|---|---|
| 0–6 | joint_1 ~ joint_7 |
Franka FR3 joint angles (rad) |
| 7 | gripper_width |
DXL gripper joint state |
Notes
- Parts require reorientation before placement; random initial orientations in supply area
- Kitting tray has fixed slots requiring precise placement orientation
- Timeline resampled at 30 Hz using nearest-neighbor interpolation
- All camera streams synchronized to common time window before resampling
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Models trained or fine-tuned on moonjongsul/manufacturing_parts_kitting_dataset