# So100 Synthetic Robot Dataset

This dataset contains synthetic robot pose estimation data for the LeRobot So100 arm.

## Dataset Structure

```
synth_dataset/
├── data/
│   └── chunk-000/
│       └── episode_000000.parquet  # Robot joint positions and metadata
├── videos/
│   └── chunk-000/
│       └── observation.images.main/
│           └── episode_000000.mp4  # RGB video frames
└── meta/
    ├── episodes_stats.jsonl        # Episode statistics
    ├── episodes.jsonl              # Episode metadata
    ├── info.json                   # Dataset information
    └── tasks.jsonl                 # Task definitions
```

## Dataset Information

- **Robot Type**: LeRobot So100 arm
- **Number of Frames**: 348
- **Video Format**: MP4 (24 FPS)
- **Data Format**: Parquet files containing joint positions and metadata
- **Source**: Synthetic video with inferred motor positions from trained pose estimation model

## Usage

This dataset can be used for:
- Robot pose estimation training and evaluation
- Joint angle prediction from RGB images
- Synthetic-to-real transfer learning
- Robot manipulation research

## Generation Process

1. **Input**: Synthetic RGB video of So100 arm movements
2. **Model**: Trained HoRoPose model (DepthNet + Full Network)
3. **Inference**: Joint angle predictions for each frame
4. **Dataset Creation**: Combined video frames with predicted joint positions

## Citation

If you use this dataset in your research, please cite the original HoRoPose paper and this dataset.

## License

[Add your license information here]