Makhtsaev/pia-so101-rectangle-v1

This dataset was created using LeRobot.

Dataset Description

Demonstrations teleoperees (leader -> follower) d'un bras SO-101 pour le projet PIA / PRIA (HELMo).

• Tache : Pick up the rectangle from the feeding zone and place it in the exchange zone
• Episodes : 80 (28 861 images a 30 Hz), enregistres le 5 octobre 2026
• Cameras (Logitech C310, 640x480) : overhead (vue du dessus), side (vue de cote, epaisseur des pieces), oblique
• Variations : position de depart de la piece dans la zone d'alimentation (plan PLAN_BDD_PHASE1_80_EPISODES.csv)

Episodes a exclure a l'entrainement (controle qualite) : 0 (camera side pas encore calee), 66 (camera oblique deplacee), 35 et 54 (bras hors de la pose de repos au depart). Exemple : --dataset.episodes avec les 76 autres indices.

• Homepage: [More Information Needed]
• Paper: [More Information Needed]
• License: [More Information Needed]

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "fps": 30,
    "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": {
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                "shoulder_lift.pos",
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                "wrist_roll.pos",
                "gripper.pos"
            ],
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        },
        "observation.images.overhead": {
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            ],
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        },
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        "timestamp": {
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    "total_episodes": 80,
    "total_frames": 28861,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "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",
    "robot_type": "so_follower",
    "splits": {
        "train": "0:80"
    }
}

Citation

BibTeX:

[More Information Needed]