iikkao/fr3-gz

FR3 Gazebo Test Dataset

Summary

• Franka Research 3
• Gazebo Harmonic
• 50 episodes
• Pick-and-place task
• Teleoperated using PS5 DualSense controller
• Collected with crisp_gym

Task

The dataset contains teleoperated demonstrations of a Franka Research 3 robot picking up a green cube and placing it on a blue target surface

Environment

• ROS2 Jazzy
• Gazebo Harmonic
• Simulated FR3 with CRISP Cartesian Impedance Controller

Observations

State:

• Robot joint positions
• Robot joint velocities
• End-effector pose
• Gripper state

Images:

• Wrist camera: 640×480, 30 FPS
• Static side camera: 640×480, 30 FPS

Action

• End-effector position/orientation command
• Gripper command

[Δx, Δy, Δz, Δroll, Δpitch, Δyaw, gripper]

• Δx, Δy, Δz end-effector position deltas in meters
• Δroll, Δpitch, Δyaw end-effector orientation deltas in radians
• gripper: gripper command (1.0 = open, 0.0 = closed)