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Upload ketchup pick and place dataset with FFmpeg H.264 videos
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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.