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

This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).



## Dataset Description



- **Homepage:** [More Information Needed]
- **Paper:** [More Information Needed]
- **License:** [More Information Needed]

## Dataset Structure

[More Information Needed]

## Citation

**BibTeX:**

```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