Fruit pick
Simulated Franka demonstrations for picking a banana, lemon, or plum and placing it in a bowl. This is a LeRobot v3.0 dataset used by RoboGenesis 101.
License
This dataset is released under CC BY-NC 4.0.
The demonstrations were rendered with YCB object meshes distributed by ManiSkill. ManiSkill states that those assets are licensed under CC BY-NC 4.0. The objects used here are banana (011_banana), lemon (014_lemon), plum (018_plum), and bowl (024_bowl), from the YCB Object and Model Set (Calli et al., 2015, doi:10.1109/MRA.2015.2448951).
The mesh files themselves are not in this dataset repository. The videos are rendered views of those objects, so this dataset keeps the CC BY-NC 4.0 terms. See the RoboGenesis 101 NOTICE for the course asset record.
This license applies to the dataset. It does not change the license of a policy trained on it.
Contents
| Field | Value |
|---|---|
| Episodes | 300 |
| Frames | 71,976 |
| Tasks | 3 |
| FPS | 30 |
| Robot | Franka |
| State and action | 9-D joint and gripper values |
| Cameras | observation.images.world, observation.images.wrist, each 640×360 |
Tasks:
- pick the banana and place it in the bowl
- pick the lemon and place it in the bowl
- pick the plum and place it in the bowl
How to download
hf download wangxun1010/fruit_pick --repo-type dataset --local-dir datasets/fruit_pick
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