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szk1ck
/
so101-ycb-pickplace-random-pattern

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10M - 100M
Tags:
lerobot
so101
pick-and-place
simulation
mujoco
Libraries:
Datasets
Dask
Polars
License:
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xet
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observation.state
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6
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13.6
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680
episode_index
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20k
index
int64
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10.4M
task_index
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End of preview. Expand in Data Studio

SO-101 YCB 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。 実 YCB オブジェクト（google_16k スキャンメッシュ、78 種）をエピソードごとにランダム配置。 LeRobot v3.0 形式（codebase_version: v3.0）。

概要

項目 値
エピソード数 20,000
フレーム総数 10,402,525
制御周波数 50 Hz
カメラ front (480×640), wrist (480×640)
オブジェクト YCB google_16k メッシュ 78 種（グリッパー適合スケール）
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.datasets.lerobot_dataset import LeRobotDataset

dataset = LeRobotDataset("szk1ck/so101-ycb-pickplace-random-pattern")
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Number of rows:
10,402,525
Total file size:
86.7 GB