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Datasets:
videron
/
lego_pickup_all

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
pandas
Polars
License:
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xet
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observation.state
list
timestamp
float32
0
29.8
frame_index
int64
0
895
episode_index
int64
0
24
index
int64
0
22.3k
task_index
int64
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End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Description

Environment configuration: Top down camera and gripper camera, overhead light combined with two lights on left and right andgled at 45 degrees, white tabletop with grid mat on it, blue bowl, consistent location of the bowl collected in the morning with room shades open

Red white and blue bricks are used

All the lego bricks are picked up and placed in the bowl

Text Instruction: "Put all the legos on the table 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 --robot.calibration_dir=/Experiments --teleop.calibration_dir=/Experiments --robot.cameras="{desk_cam: {type: opencv, index_or_path: 1, width: 640, height: 480, fps: 30,fourcc: 'MJPG'},gripper: {type: opencv, index_or_path: 0, width: 640, height: 480, fps: 30,fourcc: 'MJPG'}}" --display_data=true --dataset.num_episodes=25 --dataset.single_task="Put all the legos on the table in the blue bowl " --dataset.push_to_hub=True --dataset.repo_id="staudi25/lego_pickup_all" --play_sounds False --dataset.episode_time_s 30 --dataset.reset_time_s 10

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

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "so_follower",
    "total_episodes": 25,
    "total_frames": 22350,
    "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": {
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        "observation.images.desk_cam": {
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        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        "index": {
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        "task_index": {
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        }
    }
}

Citation

BibTeX:

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