Datasets:
Search is not available for this dataset
action list | observation.state list | timestamp float32 | frame_index int64 | episode_index int64 | index int64 | task_index int64 |
|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
so101_right_hand_protein_vertical_horizontal
Teleoperated SO-101 (right-hand follower arm) demonstrations of the task "pick up the protein bar and put it in the box", in LeRobot v3.0 format.
What this dataset contains
This dataset only contains episodes where the protein bar starts in one of two clean orientations:
| Episodes | Protein bar orientation |
|---|---|
0–49 |
Vertical (first 50 episodes) |
50–99 |
Horizontal (remaining 50 episodes) |
Angled starts are intentionally excluded. Any demonstration where the protein bar was lying at an angle (neither cleanly vertical nor cleanly horizontal) has been dropped, so every one of the 100 episodes here is a canonical vertical or horizontal pick.
Camera setup
The front camera is mounted elevated (raised above the workspace) so that it looks down onto the table at an angle. This placement is deliberate: it reduces occlusion of the protein bar and the box by the arm during the grasp and place motions, keeping the object visible throughout the episode. A wrist camera on the right hand provides a close-up, in-hand view.
Dataset structure
- Robot:
so_follower(SO-101), 6-DoF, joint control - Episodes: 100
- Frames: 36,315
- FPS: 30
- Cameras:
observation.images.front— elevated front view (640×480)observation.images.wrist_right— right wrist view (640×480)
- State / action: 6-D joint positions
(
shoulder_pan,shoulder_lift,elbow_flex,wrist_flex,wrist_roll,gripper) - Task:
pick up the protein bar and put it in the box
Provenance
Derived from the first 100 episodes of an internal SO-101 right-hand protein-bar teleoperation collection, filtered to the vertical and horizontal starts and converted from LeRobot v2.1 to v3.0.
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