---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- franka
- beat_block_hammer
- dual-arm
- teleoperation
configs:
- config_name: default
  data_files: data/*/*.parquet
---

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

## Dataset Description


# Franka Dual-Arm Beat Block Hammer Dataset

Pick the hammer and strike the block.

## Hardware
- **Robot**: 2× Franka Emika Panda (7-DOF dual-arm setup)
- **Cameras**: 3× Intel RealSense D435 (256×256 RGB, front + wrist views)


### State Space (38 dimensions)

**Left Arm (19 dimensions):**
- `tcp_pose` (6): End-effector pose [x, y, z, roll, pitch, yaw] in meters and radians
- `tcp_vel` (6): End-effector velocity [vx, vy, vz, wx, wy, wz] in m/s and rad/s
- `tcp_force` (3): Force at end-effector [fx, fy, fz] in Newtons
- `tcp_torque` (3): Torque at end-effector [tx, ty, tz] in Newton-meters
- `gripper_pose` (1): Gripper opening (0=closed, 1=open)

**Right Arm (19 dimensions):** Same structure as left arm



### Action Space (14 dimensions)

**Left Arm (7 dimensions):**
- `delta_pose` (6): Incremental pose change [dx, dy, dz, droll, dpitch, dyaw]
- `gripper` (1): Target gripper state (0=closed, 1=open)

**Right Arm (7 dimensions):** Same structure as left arm



- **Homepage:** [More Information Needed]
- **Paper:** [More Information Needed]
- **License:** apache-2.0

## Dataset Structure

[meta/info.json](meta/info.json):
```json
{
    "codebase_version": "v2.1",
    "robot_type": "franka",
    "total_episodes": 102,
    "total_frames": 18504,
    "total_tasks": 1,
    "total_videos": 306,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 10,
    "splits": {
        "train": "0:102"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "image_front": {
            "dtype": "video",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 256,
                "video.width": 256,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "image_wrist_left": {
            "dtype": "video",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 256,
                "video.width": 256,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "image_wrist_right": {
            "dtype": "video",
            "shape": [
                256,
                256,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 256,
                "video.width": 256,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 10,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "state": {
            "dtype": "float32",
            "shape": [
                38
            ],
            "names": {
                "dims": [
                    "left/tcp_x",
                    "left/tcp_y",
                    "left/tcp_z",
                    "left/tcp_roll",
                    "left/tcp_pitch",
                    "left/tcp_yaw",
                    "left/tcp_vx",
                    "left/tcp_vy",
                    "left/tcp_vz",
                    "left/tcp_wx",
                    "left/tcp_wy",
                    "left/tcp_wz",
                    "left/gripper_pos",
                    "left/force_x",
                    "left/force_y",
                    "left/force_z",
                    "left/torque_x",
                    "left/torque_y",
                    "left/torque_z",
                    "right/tcp_x",
                    "right/tcp_y",
                    "right/tcp_z",
                    "right/tcp_roll",
                    "right/tcp_pitch",
                    "right/tcp_yaw",
                    "right/tcp_vx",
                    "right/tcp_vy",
                    "right/tcp_vz",
                    "right/tcp_wx",
                    "right/tcp_wy",
                    "right/tcp_wz",
                    "right/gripper_pos",
                    "right/force_x",
                    "right/force_y",
                    "right/force_z",
                    "right/torque_x",
                    "right/torque_y",
                    "right/torque_z"
                ]
            }
        },
        "actions": {
            "dtype": "float32",
            "shape": [
                14
            ],
            "names": {
                "dims": [
                    "left/delta_x",
                    "left/delta_y",
                    "left/delta_z",
                    "left/delta_roll",
                    "left/delta_pitch",
                    "left/delta_yaw",
                    "left/gripper",
                    "right/delta_x",
                    "right/delta_y",
                    "right/delta_z",
                    "right/delta_roll",
                    "right/delta_pitch",
                    "right/delta_yaw",
                    "right/gripper"
                ]
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}
```


## Citation

**BibTeX:**

```bibtex
[More Information Needed]
```