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Ketchup Pick and Place Dataset
This dataset contains robot demonstrations for a pick and place task using a Universal Robots UR5e.
Dataset Statistics
- Total Episodes: 1
- Total Frames: 154
- FPS: 10
- Robot DOF: 7 (6DOF pose + gripper)
- Cameras: ['top', 'wrist']
Task Description
Pick and place manipulation task where the robot grasps a ketchup bottle and places it in a different location.
Data Format
This dataset follows the LeRobot format with:
- Robot states in
observation.state(7DOF: x, y, z, roll, pitch, yaw, gripper) - Actions as next robot states
- Video recordings from multiple camera angles
- Videos encoded with H.264 codec using FFmpeg for maximum compatibility
Camera Setup
- top: RGB camera feed
- wrist: RGB camera feed
Usage
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
# Load dataset
dataset = LeRobotDataset("sakehaosdfadfasf/ketchup_pick_place")
# Visualize data
python -m lerobot.scripts.visualize_dataset \
--repo-id sakehaosdfadfasf/ketchup_pick_place \
--episode-index 0
Video Format
Videos are encoded using FFmpeg with H.264 codec, YUV420P pixel format, and CRF 18 for high quality. This ensures maximum compatibility with LeRobot's video decoding pipeline.
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