Datasetpublic

videron/lego_pickup_25_afternoon

This dataset was created using LeRobot. Dataset Description Environment configuration: Top down camera and gripper camera, single overhead light, white tabletop, blue bowl, variable location of the bowl collected in the afternoon Text Instruction: "Put the red lego in the blue bowl" Record Command: lerobot-record --robot.type=so101_follower --robot.port=/dev/follower --robot.id=videron_follower --teleop.type=so101_leader --teleop.port=/dev/leader --teleop.id=videron_leader… See the full description on the dataset page: https://huggingface.co/datasets/videron/lego_pickup_25_afternoon.

sourceHugging Faceapache-2.0updated 7mo agoView on Hugging Face

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Dataset Card

This dataset was created using LeRobot.

Dataset Description

Environment configuration: Top down camera and gripper camera, single overhead light, white tabletop, blue bowl, variable location of the bowl collected in the afternoon

Text Instruction: "Put the red lego in the blue bowl"

Record Command: lerobot-record --robot.type=so101follower --robot.port=/dev/follower --robot.id=videronfollower --teleop.type=so101leader --teleop.port=/dev/leader --teleop.id=videronleader --robot.calibrationdir=/Experiments --teleop.calibrationdir=/Experiments --robot.cameras="{deskcam: {type: opencv, indexorpath: 1, width: 640, height: 480, fps: 30,fourcc: 'MJPG'},gripper: {type: opencv, indexorpath: 0, width: 640, height: 480, fps: 30,fourcc: 'MJPG'}}" --displaydata=true --dataset.numepisodes=25 --dataset.singletask="Put the red lego in the blue bowl" --dataset.pushtohub=True --dataset.repoid="staudi25/legopickup25afternoon" --playsounds False --dataset.episodetimes 15 --dataset.resettime_s 10

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

Dataset Structure

meta/info.json:

json

{
    "codebase_version": "v3.0",
    "robot_type": "so_follower",
    "total_episodes": 25,
    "total_frames": 11193,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:25"
    },
    "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",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
            ]
        },
        "observation.images.desk_cam": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.gripper": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "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

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