| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| size_categories: |
| - 1M<n<10M |
| tags: |
| - LeRobot |
| - so101 |
| - teleoperation |
| - stacking |
| - pick-and-place |
| configs: |
| - config_name: default |
| data_files: data/*/*.parquet |
| language: |
| - en |
| pretty_name: stack_white_blue_black |
| --- |
| |
| # stack_3blocks_white_blue_black |
|
|
| Single-arm SO-101 teleoperation dataset for a **3-block stacking** task (bottom → top: white, blue, black), recorded with **2 cameras** in [LeRobot](https://github.com/huggingface/lerobot) format (`v3.0`). |
|
|
| ## Task |
|
|
| > Stack the blocks from bottom to top: white, blue, black. |
|
|
| Pipeline: pick white → place as base → pick blue → stack on white → pick black → stack on blue → hold stable. |
|
|
| Scene: three blocks start flat and spread in an ~A4 workspace (randomized each episode, gap ≥5 cm); no tray / distractors. |
|
|
| ## Dataset summary |
|
|
| | Field | Value | |
| | --- | --- | |
| | Robot | `so101_follower` (single SO-101 arm) | |
| | Collection | Leader–follower teleoperation | |
| | Episodes | **199** | |
| | Frames | **122,138** | |
| | FPS | **30** | |
| | Episode length | ~261–1079 frames (~8.7–36.0 s), mean ~614 frames (~20.5 s) | |
| | Tasks | 1 | |
| | Split | `train`: episodes `0:199` | |
| | Format | LeRobot codebase `v3.0` | |
| | Approx. size | ~690 MB | |
|
|
| ## Cameras |
|
|
| | Key | Resolution | Role | |
| | --- | --- | --- | |
| | `observation.images.front` | 640 × 480 | Overhead / front view (UGREEN) | |
| | `observation.images.wrist` | 640 × 480 | Wrist camera (Sonix USB2.0 CAM1) | |
|
|
| All videos: H.264, 30 FPS, RGB, no audio. |
|
|
| ## Action / state |
|
|
| 6-DoF joint positions: |
|
|
| - `shoulder_pan.pos` |
| - `shoulder_lift.pos` |
| - `elbow_flex.pos` |
| - `wrist_flex.pos` |
| - `wrist_roll.pos` |
| - `gripper.pos` |
|
|
| Features: |
|
|
| - `action` — commanded / teleop joint targets (`float32`, shape `[6]`) |
| - `observation.state` — measured joint positions (`float32`, shape `[6]`) |
|
|
| ## Features |
|
|
| - `observation.images.front` / `wrist` (video) |
| - `observation.state` |
| - `action` |
| - `timestamp`, `frame_index`, `episode_index`, `index`, `task_index` |
|
|
| ## Load with LeRobot |
|
|
| ```python |
| from lerobot.datasets.lerobot_dataset import LeRobotDataset |
| |
| dataset = LeRobotDataset( |
| repo_id="my_pick_place/stack_3blocks_white_blue_black", |
| root="/home/rxn/datasets/stack_3blocks_white_blue_black", |
| ) |
| |
| print(dataset.meta) |
| print(len(dataset), "frames,", dataset.num_episodes, "episodes") |
| ``` |
|
|
| Visualize locally: |
|
|
| ```bash |
| lerobot-dataset-viz \ |
| --repo-id my_pick_place/stack_3blocks_white_blue_black \ |
| --root /home/rxn/datasets/stack_3blocks_white_blue_black \ |
| --episode-index 0 |
| ``` |
|
|
| ## Collection notes |
|
|
| - Recorded with LeRobot SO-101 leader–follower teleop (`get-data-stack_3blocks.sh`). |
| - Local root: `/home/rxn/datasets/stack_3blocks_white_blue_black` |
| - Hub / repo id: `my_pick_place/stack_3blocks_white_blue_black` |
| - Success criterion: bottom white, middle blue, top black, stack standing stably before ending the episode. |
| - One frozen junk episode (original ep70, ~3.2 s) was removed; cleaned set is 199 episodes. |
| - Backup with the junk episode kept at: `/home/rxn/datasets/stack_3blocks_white_blue_black_with_ep70` |
|
|
| ## Citation |
|
|
| If you use this dataset, please cite [LeRobot](https://github.com/huggingface/lerobot) and this repository. |
