ycond/lemon-cutting

BarMate LeRobot Dataset

Generated from ROS 2 bags by data_collector rosbag_to_parquet.

Load parquet rows with Hugging Face Datasets:

from datasets import load_dataset

dataset = load_dataset('parquet', data_files={'train': 'data/chunk-*/*.parquet'})

To just look at what's in one frame (schema, list/scalar values, decoded depth, pointcloud metadata, and — optionally — an RGB frame decoded from the mp4), run the bundled reader:

python reader.py --episode 0 --frame 100

Requires duckdb + numpy; add av (or opencv-python) for RGB decoding. The reader uses duckdb because pyarrow 22.x cannot read the nested binary pointcloud columns in a single call (chunked-output limitation).

Episodes: 46 Frames: 44001 Videos: 92

Pruned from the original 66-episode collection (2026-07-22): kept only episodes where the yellow lemon was actually cut into two halves, then renumbered sequentially. Original dataset backed up at ../bags_0721_lerobot.bak_20260722/.

Old -> new episode mapping (46 kept):

old	new	old	new	old	new	old	new
3	0	22	13	40	26	55	37
8	1	23	14	42	27	56	38
9	2	25	15	43	28	57	39
11	3	28	16	44	29	58	40
12	4	29	17	45	30	59	41
13	5	30	18	46	31	60	42
14	6	31	19	48	32	63	43
15	7	32	20	49	33	64	44
16	8	33	21	51	34	65	45
18	9	35	22	52	35
19	10	36	23	53	36
20	11	37	24
21	12	38	25