README.md

metadata

task_categories:
  - robotics
tags:
  - LeRobot
  - robotics
  - manipulation
  - kitting
  - franka
configs:
  - config_name: default
    data_files: data/*/*.parquet

This dataset was created using LeRobot.

Dataset Description

• Homepage: [More Information Needed]
• Paper: [More Information Needed]
• License: [More Information Needed]

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 camera
  • wrist_rear: Wrist-mounted rear camera
  • front_view: Front view camera
  • side_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