SunyGala/leisaac-pick-orange

LeIsaac Pick Orange Dataset

A robot manipulation dataset for learning to pick and place oranges, collected in Isaac Lab simulation environment.

Task Description

The robot performs the following subtasks:

1. Approach orange - Move gripper towards the orange
2. Grab orange - Close gripper to grasp the orange
3. Move to plate - Transport the orange towards the plate
4. Place orange - Open gripper to release the orange on the plate
5. Retreat - Move away from the placement location

SARM Annotations

This dataset includes Stage-Aware Reward Modeling (SARM) sparse annotations for all 60 episodes. Each episode is annotated with temporal boundaries for each subtask.

Temporal Proportions (Average)

Subtask	Proportion
approach orange	17.4%
grab orange	11.3%
move to plate	17.9%
place orange	20.9%
retreat	32.5%

Annotation Files

• meta/sarm_annotations_sparse.json - JSON format annotations
• meta/temporal_proportions_sparse.json - Average temporal proportions
• Episode-level annotations in parquet files with columns:
  • sparse_subtask_names
  • sparse_subtask_start_times
  • sparse_subtask_end_times
  • sparse_subtask_start_frames
  • sparse_subtask_end_frames

Dataset Structure

leisaac-pick-orange/
├── meta/
│   ├── info.json
│   ├── stats.json
│   ├── tasks.parquet
│   ├── episodes/
│   │   └── chunk-000/
│   │       └── file-*.parquet
│   ├── sarm_annotations_sparse.json
│   └── temporal_proportions_sparse.json
├── data/
│   └── chunk-000/
│       └── file-*.parquet
└── videos/
    ├── observation.images.front/
    │   └── chunk-000/
    │       └── file-*.mp4
    └── observation.images.wrist/
        └── chunk-000/
            └── file-*.mp4

Usage

from lerobot.common.datasets.lerobot_dataset import LeRobotDataset

# Load the dataset
dataset = LeRobotDataset("SunyGala/leisaac-pick-orange")

# Access episodes
for i in range(len(dataset)):
    episode = dataset[i]
    # episode contains observation images, robot state, and actions

License

Apache 2.0

Citation

If you use this dataset, please cite the relevant works:

@software{lerobot2024,
  title = {LeRobot: Making AI for Robotics more accessible},
  author = {LeRobot team},
  url = {https://github.com/huggingface/lerobot}
}

Acknowledgments

• Dataset generated using Isaac Lab
• Annotations generated using SiliconFlow API with Qwen3-VL model