Datasetpublic

inz/pick_place_greencube_2025-08-29_180507

Pick Place Greencube 2025-08-29 180507 Dataset This dataset contains teleoperated demonstrations for a pick-and-place task using a dummy_arm_inz arm with gripper. Dataset Structure Meta Information (meta/info.json) { "codebase_version": "v2.1", "robot_type": "dummy_arm_inz", "fps": 10, "total_episodes": 26, "total_frames": 5891, "total_tasks": 1, "total_videos": 52, "splits": { "train": "0:26" }, "features": { "action": {… See the full description on the dataset page: https://huggingface.co/datasets/inz/pick_place_greencube_2025-08-29_180507.

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Dataset Card

Pick Place Greencube 2025-08-29 180507 Dataset

This dataset contains teleoperated demonstrations for a pick-and-place task using a dummyarminz arm with gripper.

Dataset Description

—Homepage: https://huggingface.co/datasets/inz/pickplacegreencube2025-08-29180507
—License: MIT
—Robot: dummyarminz
—Task: Pick and place manipulation task
—Collection Method: Human teleoperation
—FPS: 10
—Total Episodes: 26
—Total Frames: 5891

Dataset Structure

Meta Information (`meta/info.json`)

json

{
  "codebase_version": "v2.1",
  "robot_type": "dummy_arm_inz",
  "fps": 10,
  "total_episodes": 26,
  "total_frames": 5891,
  "total_tasks": 1,
  "total_videos": 52,
  "splits": {
    "train": "0:26"
  },
  "features": {
    "action": {
      "dtype": "float32",
      "shape": [
        7
      ],
      "names": [
        "joint_0",
        "joint_1",
        "joint_2",
        "joint_3",
        "joint_4",
        "joint_5",
        "gripper"
      ]
    },
    "episode_index": {
      "dtype": "int64",
      "shape": []
    },
    "frame_index": {
      "dtype": "int64",
      "shape": []
    },
    "timestamp": {
      "dtype": "float64",
      "shape": []
    },
    "next.done": {
      "dtype": "bool",
      "shape": []
    },
    "index": {
      "dtype": "int64",
      "shape": []
    },
    "task_index": {
      "dtype": "int64",
      "shape": []
    },
    "task": {
      "dtype": "string",
      "shape": []
    },
    "observation.images.cam_head": {
      "dtype": "video",
      "shape": [
        1080,
        1920,
        3
      ],
      "names": [
        "height",
        "width",
        "channel"
      ],
      "info": {
        "video.fps": 10,
        "video.codec": "mp4v"
      }
    },
    "observation.images.cam_wrist": {
      "dtype": "video",
      "shape": [
        1080,
        1920,
        3
      ],
      "names": [
        "height",
        "width",
        "channel"
      ],
      "info": {
        "video.fps": 10,
        "video.codec": "mp4v"
      }
    },
    "clock_time": {
      "dtype": "float64",
      "shape": [],
      "names": null
    },
    "observation.state": {
      "dtype": "float32",
      "shape": [
        7
      ],
      "names": [
        "joint_0",
        "joint_1",
        "joint_2",
        "joint_3",
        "joint_4",
        "joint_5",
        "gripper_position_deg"
      ]
    },
    "gripper_torque": {
      "dtype": "float32",
      "shape": [
        1
      ],
      "names": [
        "gripper_torque"
      ]
    }
  },
  "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",
  "chunks_size": 1000
}

Features

The dataset follows the LeRobot vv2.1 format with the following features:

Feature	Type	Shape	Description
`action`	float32	[7]	Action commands (1 dimensions)
`episode_index`	int64	[]	Episode identifier
`frame_index`	int64	[]	Frame number within episode
`timestamp`	float64	[]	Timestamp in seconds
`next.done`	bool	[]	Episode termination flag
`index`	int64	[]	index data
`task_index`	int64	[]	task_index data
`task`	string	[]	Task description
`observation.images.cam_head`	video	[1080, 1920, 3]	Cam_head camera RGB video
`observation.images.cam_wrist`	video	[1080, 1920, 3]	Cam_wrist camera RGB video
`clock_time`	float64	[]	clock_time data
`observation.state`	float32	[7]	observation.state data
`gripper_torque`	float32	[1]	Gripper torque feedback

Data Format

The dataset follows the LeRobot format:

dataset/
├── data/
│   └── chunk-000/
│       └── episode_*.parquet
├── videos/
│   └── chunk-000/
│       ├── observation.images.cam_head/
│       │   └── episode_*.mp4
│       └── observation.images.cam_wrist/
│           └── episode_*.mp4
└── meta/
    ├── info.json
    ├── episodes.jsonl
    ├── episodes_stats.jsonl
    └── tasks.jsonl

Usage

Load the dataset using LeRobot:

python

from lerobot.common.datasets.lerobot_dataset import LeRobotDataset

dataset = LeRobotDataset("inz/pick_place_greencube_2025-08-29_180507")

Citation

If you use this dataset, please cite:

bibtex

@dataset{inz_pick_place_greencube_2025_08_29_180507_dataset_2025,
    title={Pick Place Greencube 2025-08-29 180507 Dataset},
    author={Dataset Creator},
    year={2025},
    publisher={Hugging Face},
    url={https://huggingface.co/datasets/inz/pick_place_greencube_2025-08-29_180507}
}

Generated on 2025-08-30 06:22:18 with LeRobot dataset tools.