kinam0252/so101_three_strawberries_modified

SO101 Three Strawberries Dataset

Dataset Description

This dataset contains robot manipulation episodes for strawberry picking task using SO101 robot. The dataset includes 19 episodes of robot manipulation with multi-view camera observations.

Task

Task: Pick up strawberries and put them in a tray

Robot: SO101 Follower robot with 6 degrees of freedom

Dataset Structure

This dataset follows the LeRobot format and contains:

• —Data: Parquet files containing robot states, actions, and metadata
• —Videos: MP4 files with camera observations (front and wrist views)
• —Metadata: JSON files with episode information and statistics

Features

• —Action: 6-dimensional robot joint positions
• —shoulder_pan.pos: Shoulder pan joint position
• —shoulder_lift.pos: Shoulder lift joint position
• —elbow_flex.pos: Elbow flex joint position
• —wrist_flex.pos: Wrist flex joint position
• —wrist_roll.pos: Wrist roll joint position
• —gripper.pos: Gripper position

• —Observation State: 6-dimensional robot joint states (same as action)

• —Images: Multi-view camera observations
• —observation.images.front: Front camera view (480x640x3 RGB)
• —observation.images.wrist: Wrist camera view (960x1280x3 RGB)

• —Metadata:
• —timestamp: Frame timestamps in seconds
• —frame_index: Frame index within episode
• —episode_index: Episode index
• —task_index: Task index (0 for strawberry picking)

Usage

Using LeRobot

from lerobot import load_dataset

# Load the dataset
dataset = load_dataset("kinam0252/so101_three_strawberries")

# Access episodes
for episode in dataset:
    print(f"Episode {episode['episode_index']}: {len(episode)} frames")
    print(f"Actions shape: {episode['action'].shape}")
    print(f"Images keys: {list(episode['observation.images'].keys())}")

Direct Loading

import pandas as pd
import json

# Load episode data
df = pd.read_parquet("data/chunk-000/episode_000000.parquet")

# Load metadata
with open("meta/info.json", "r") as f:
    info = json.load(f)

# Access robot actions and states
actions = df["action"].values
states = df["observation.state"].values

Dataset Statistics

• —Total Episodes: 19
• —Total Frames: 32,641
• —FPS: 30
• —Average Episode Length: ~1,700 frames (~58 seconds)
• —Robot DOF: 6 (shoulderpan, shoulderlift, elbowflex, wristflex, wrist_roll, gripper)

Citation

If you use this dataset, please cite:

@dataset{so101_three_strawberries,
  title={SO101 Three Strawberries Dataset},
  author={Your Name},
  year={2024},
  publisher={Hugging Face},
  url={https://huggingface.co/datasets/kinam0252/so101_three_strawberries}
}

License

This dataset is licensed under the MIT license.