szk1ck/so101-pickplace-sim-mujoco
Robotics • 51.7M • Updated • 80
Search is not available for this dataset
episode_index int64 0 5k | frame_index int64 0 475 | index int64 0 2.38M | timestamp float32 0 9.5 | next.done bool 2
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End of preview. Expand in Data Studio
SO-101 Pick & Place Simulation Dataset
MuJoCo シミュレーションで収集した SO-101 ロボットアームの Pick & Place デモデータセット。 LeRobot v2.1 形式。
概要
| 項目 | 値 |
|---|---|
| エピソード数 | 5,000 |
| フレーム総数 | 2,380,000 |
| 制御周波数 | 50 Hz |
| カメラ | front (480×640), wrist (480×640) |
| 動画コーデック | libx264 |
| ロボット | SO-101（6-DOF） |
| タスク | Pick & Place |
関節名
['shoulder_pan', 'shoulder_lift', 'elbow_flex', 'wrist_flex', 'wrist_roll', 'gripper']
データ構造
data/chunk-NNN/file-NNN.parquet # フレームデータ（state, action, timestamp 等）
videos/observation.images.front/ # フロントカメラ動画 (MP4)
videos/observation.images.wrist/ # リストカメラ動画 (MP4)
meta/info.json # データセットメタ情報
meta/stats.json # state/action の記述統計
利用方法
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
dataset = LeRobotDataset("szk1ck/so101-pickplace-sim-mujoco")
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