AniruddhaAtre/so101_sim

SO-101 simulated nut stacking

This is the exact 100-episode dataset used to train the Diffusion Policy in aniruddha-atre/so101_physical_ai.

The demonstrations contain successful SO-101 nut-stacking trajectories recorded in Gazebo Harmonic at 30 FPS in LeRobot v3.0 format.

Contents

• 100 successful episodes
• 183,023 frames
• observation.state: six robot joints
• observation.images.left: fixed overview RGB camera
• observation.images.fpv: gripper-mounted RGB camera
• action: six commanded robot joints

Object and environment poses are not included in the policy observations.

The dataset combines 50 corrected locally collected demonstrations with 50 corrected demonstrations contributed through shubham4413/so101_sim.