This dataset was created using LeRobot.
Dataset Description
Synthetic demonstrations of a bimanual Franka FR3 Duo handing over surgical instruments in a simulated cath lab: "Hand me the {scissors | trocar | puncture device}". The arm on the instrument's side picks it up and places it on a central instrument tray. Physics and rendering: NVIDIA Newton 1.6 (MuJoCo-Warp backend); a scripted IK expert planned on CPU MuJoCo from ground-truth poses. Only successful episodes are kept.
640 episodes, 30 fps, 3 cameras (224 × 224):
| Start | Episodes | What it shows |
|---|---|---|
| Home | 270 | Both arms at the home pose |
| Near target | 270 | The acting arm starts 6–18 cm above and up to 8 cm around the instrument (recovery from imprecise approaches) |
| Drop recovery | 100 | The instrument was dropped mid-lift or mid-carry and lies where it fell; the arm starts raised with the gripper open, then re-picks and places it. The drop itself is not recorded |
Variation: 45 training layouts (4 instruments, two per side, random position and full rotation; tweezers are a distractor), 4 table colours, light intensity 0.7–1.3× and colour temperature 4000–7500 K, object mass ±30 %, friction 0.5–1.0, 3 instruction phrasings. Held out for evaluation (not in this dataset): 5 layouts and 1 table colour. Fixed: tray position and place spot per arm, light direction, camera poses.
Schema: observation.state and action are float32[16] absolute joint targets (left arm joints 1–7, left gripper, right arm joints 1–7, right gripper; gripper 1 = open), matching the FR3 Duo 16-D layout. Cameras: external_camera, left_wrist_camera, right_wrist_camera. meta/episodes_extra.jsonl holds the full configuration of every attempt (layout, start type, acting arm, drop details); manifest.yaml summarises the dataset.
Code: https://github.com/aravinds1610/mujoco_cathlab_vla
Asset credit and licence: the surgical instrument and tray models are from the NVIDIA Isaac for Healthcare asset catalog (https://github.com/isaac-for-healthcare/i4h-asset-catalog, Lightwheel assets), licensed CC BY-NC 4.0. This dataset renders those assets and is therefore released under CC BY-NC 4.0: non-commercial use only, with attribution. Robot models: MuJoCo Menagerie (Franka FR3 v2, Robotiq 2F-85).
- Homepage: [More Information Needed]
- Paper: [More Information Needed]
- License: cc-by-nc-4.0
Dataset Structure
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
16
],
"names": [
"left_joint1",
"left_joint2",
"left_joint3",
"left_joint4",
"left_joint5",
"left_joint6",
"left_joint7",
"left_gripper",
"right_joint1",
"right_joint2",
"right_joint3",
"right_joint4",
"right_joint5",
"right_joint6",
"right_joint7",
"right_gripper"
]
},
"action": {
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"shape": [
16
],
"names": [
"left_joint1",
"left_joint2",
"left_joint3",
"left_joint4",
"left_joint5",
"left_joint6",
"left_joint7",
"left_gripper",
"right_joint1",
"right_joint2",
"right_joint3",
"right_joint4",
"right_joint5",
"right_joint6",
"right_joint7",
"right_gripper"
]
},
"observation.images.external_camera": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
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"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {},
"is_depth_map": false
}
},
"observation.images.left_wrist_camera": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {},
"is_depth_map": false
}
},
"observation.images.right_wrist_camera": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 224,
"video.width": 224,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {},
"is_depth_map": false
}
},
"success": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
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"shape": [
1
],
"names": null
},
"task_index": {
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"shape": [
1
],
"names": null
}
},
"total_episodes": 640,
"total_frames": 230558,
"total_tasks": 9,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 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",
"robot_type": "fr3_duo",
"splits": {
"train": "0:640"
}
}
Citation
BibTeX:
[More Information Needed]
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