shane1027/so101-nerds-sim-v2
This dataset was created using LeRobot. 534 scripted-expert episodes generated in Genesis (single Nerds gummy cluster -> portafilter basket). Scene appearance is matched to the real rig by towel channel ratios, and the wrist roll is pinned to the human teleop convention. Dataset Structure meta/info.json: { "codebase_version": "v3.0", "robot_type": "so101_follower", "total_episodes": 534, "total_frames": 280050, "total_tasks": 1, "chunks_size": 1000… See the full description on the dataset page: https://huggingface.co/datasets/shane1027/so101-nerds-sim-v2.
This dataset was created using LeRobot.
534 scripted-expert episodes generated in Genesis (single Nerds gummy cluster -> portafilter basket). Scene appearance is matched to the real rig by towel channel ratios, and the wrist roll is pinned to the human teleop convention.
<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=shane1027/so101-nerds-sim-v2"> <img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/> <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/> </a>
Dataset Description
- License: apache-2.0
- Episodes: 534
- Frames: 280050
- FPS: 25
- Task: Grab the nerds cluster and place it into the cup
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "so101_follower",
"total_episodes": 534,
"total_frames": 280050,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 25,
"splits": {
"train": "0:534"
},
"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",
"features": {
"action": {
"dtype": "float32",
"shape": [
6
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
6
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
]
},
"observation.images.wrist": {
"dtype": "video",
"shape": [
432,
768,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 432,
"video.width": 768,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 25,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.top": {
"dtype": "video",
"shape": [
432,
768,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 432,
"video.width": 768,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 25,
"video.channels": 3,
"has_audio": false
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}