---
title: franka_multi_task_v1_img
canonical_url: "https://www.modelscope.cn/datasets/lirislab/franka_multi_task_v1_img"
md_url: "https://www.modelscope.cn/datasets/lirislab/franka_multi_task_v1_img.md"
repository: lirislab/franka_multi_task_v1_img
last_updated: 2025-12-03
license: apache-2.0
storage_size: "60 GB"
downloads: 71
stars: 0
---

# franka_multi_task_v1_img

> franka_multi_task_v1_img - lirislab 在 ModelScope 开源的数据集。This dataset was created using LeRobot.

lirislab/franka_multi_task_v1_img 是 ModelScope 魔搭社区上的数据集，存储大小 60 GB，采用 apache-2.0 许可。

- **Repository**: lirislab/franka_multi_task_v1_img
- **License**: apache-2.0
- **Storage size**: 60 GB
- **Downloads**: 71
- **Stars**: 0
- **Last updated**: 2025-12-03

Source: https://www.modelscope.cn/datasets/lirislab/franka_multi_task_v1_img

---

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

## Dataset Description



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

## Dataset Structure

[meta/info.json](meta/info.json):
```json
{
    "codebase_version": "v3.0",
    "robot_type": null,
    "total_episodes": 200,
    "total_frames": 75843,
    "total_tasks": 4,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 500,
    "fps": 10,
    "splits": {
        "train": "0:200"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": [
                "joint_0",
                "joint_1",
                "joint_2",
                "joint_3",
                "joint_4",
                "joint_5",
                "joint_6",
                "gripper"
            ],
            "fps": 10
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                8
            ],
            "names": [
                "joint_0",
                "joint_1",
                "joint_2",
                "joint_3",
                "joint_4",
                "joint_5",
                "joint_6",
                "gripper"
            ],
            "fps": 10
        },
        "observation.images.wrist_camera": {
            "shape": [
                3,
                720,
                1280
            ],
            "names": [
                "channels",
                "height",
                "width"
            ],
            "fps": 10,
            "dtype": "image"
        },
        "observation.images.side_camera": {
            "shape": [
                3,
                720,
                1280
            ],
            "names": [
                "channels",
                "height",
                "width"
            ],
            "fps": 10,
            "dtype": "image"
        },
        "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]
```