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Datasets:
videron
/
lego_pickup_reset

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
Libraries:
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pandas
Polars
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observation.state
list
timestamp
float32
0
5.6
frame_index
int64
0
168
episode_index
int64
0
49
index
int64
0
6.58k
task_index
int64
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End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Description

lerobot-record --robot.type=so101_follower --robot.port=/dev/follower --robot.id=videron_follower --teleop.type=so101_leader --teleop.port=/dev/leader --teleop.id=videron_leader --robot.calibration_dir=/Experiments --teleop.calibration_dir=/Experiments --robot.cameras="{desk_cam: {type: opencv, index_or_path: 1, width: 640, height: 480, fps: 30,fourcc: 'MJPG'},gripper: {type: opencv, index_or_path: 0, width: 640, height: 480, fps: 30,fourcc: 'MJPG'}}" --display_data=true --dataset.num_episodes=50 --dataset.single_task="Move the robot to the home position" --dataset.push_to_hub=True --dataset.repo_id="staudi25/lego_pickup_reset" --play_sounds False --dataset.episode_time_s 60 --dataset.reset_time_s 60

  • Homepage: [More Information Needed]
  • Paper: [More Information Needed]
  • License: apache-2.0

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "so_follower",
    "total_episodes": 50,
    "total_frames": 6579,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "action": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_flex.pos",
                "wrist_roll.pos",
                "gripper.pos"
            ],
            "shape": [
                6
            ]
        },
        "observation.images.desk_cam": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
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            "info": {
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                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.gripper": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
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            "names": null
        },
        "frame_index": {
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            "shape": [
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            "names": null
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        "episode_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
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        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
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            "names": null
        }
    }
}

Citation

BibTeX:

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