mo378/so101-teleop-ball-rolling

SO-101 ball-rolling teleop dataset

Raw episode recordings captured with the so101-teleop web UI driving a LeRobot SO-101 follower arm. Each episode is a single HDF5 file at 30 Hz.

Sub-tasks (per desc.txt)

• ball_rolling_00 — before arm fell off
• ball_rolling_01 — side hits
• ball_rolling_02 — front hits
• ball_rolling_03 — back hits
• ball_rolling_04 — near misses
• ball_rolling_05 — only ball rolling
• ball_rolling_06 — leader-arm demos
• ball_rolling_07 — ball/obstacle interactions

Episode HDF5 schema (schema_version = 2)

dataset	dtype	shape	notes
pixels	vlen uint8	(T,)	raw JPEG bytes per frame
proprio	float32	(T, 6)	joint positions in servo ticks
action	float32	(T, 6)	commanded joint targets, ticks
state	float32	(T, 6)	alias of proprio
timestamp_ms	float64	(T,)	monotonic ms since episode start
velocity	float32	(T, 6)	STS3215 Present_Velocity
load	float32	(T, 6)	STS3215 Present_Load (signed PWM effort, direction bit unreliable)
voltage	float32	(T, 6)	tenths of a volt
temperature	float32	(T, 6)	°C
current	float32	(T, 6)	mA — reliable torque proxy

Joint order: shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper.

Top-level HDF5 attrs include task, robot_id, fps_target=30, recorded_at (UTC ISO 8601), hostname, and telemetry_channels.