Search is not available for this dataset
action list | observation.state list | timestamp float32 0 27.4 | frame_index int64 0 822 | episode_index int64 0 149 | index int64 0 66k | task_index int64 0 0 |
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End of preview. Expand in Data Studio
SO-101 with a tactile skin, 3 cameras
LeRobot v3.0 datasets recorded on a single SO-101 arm (so_follower) with a 5-chip magnetic
tactile skin. One folder per dataset, each a complete LeRobot dataset (data/, meta/,
videos/, own README.md).
| folder | task(s) | episodes | frames | fps | cameras |
|---|---|---|---|---|---|
grab_ball_3cam_skin/ |
"Grab the ball" | 150 | 65,989 | 30 | fixed, handeye, side |
grab_cup_3cam_skin/ |
"Grab the blue cup" | 166 | 64,812 | 30 | fixed, handeye, side |
grab_green_cube_3cam_skin/ |
"Grab the green cube" | 150 | 55,406 | 30 | fixed, handeye, side |
grab_green_cube_distractor_red_cube_3cam_skin/ |
"Grab the green cube" | 100 | 28,159 | 30 | fixed, handeye, side |
grab_green_cylinder_3cam_skin/ |
"Grab the green cylinder" | 150 | 50,823 | 30 | fixed, handeye, side |
grab_red_cube_3cam_skin/ |
"Grab the red cube" | 150 | 55,689 | 30 | fixed, handeye, side |
grab_red_cube_distractor_green_cube_3cam_skin/ |
"Grab the red cube" | 150 | 52,070 | 30 | fixed, handeye, side |
- State 21-D: 5 joints (deg), gripper (0-100), 5 skin chips x xyz (uT).
- Action 6-D: 5 joints (deg), gripper (0-100).
- Cameras 640x480, AV1:
fixed(left tripod),side(right tripod),handeye(wrist).
Loading one dataset
LeRobot loads a dataset from a repo root, so download the folder and point root at it:
from huggingface_hub import snapshot_download
from lerobot.datasets.lerobot_dataset import LeRobotDataset
name = "grab_cup_3cam_skin"
d = snapshot_download("PINlab/so101_3cam_skin", repo_type="dataset", allow_patterns=f"{name}/*")
ds = LeRobotDataset(f"PINlab/{name}", root=f"{d}/{name}")
Policies trained on these: PINlab/pi05-so101.
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