leslider-pick-blue-cube

Teleoperation dataset for picking a blue cube up and holding it using the LeSlider robot — an SO-101 arm mounted on a linear slider.

Robot

• Arm: SO-101 (6-DOF, Feetech STS3215)
• Slider: STS3215 in velocity/wheel mode for continuous linear travel
• Cameras: arm-mounted camera + overhead camera (640×480, 30 fps)

Collection

Collected via LiveKit Portal teleoperation. The operator mirrors arm joints through a physical SO-101 leader arm; slider position is controlled with keyboard arrow keys.

Dataset

Episodes	87
Frames	24 467
FPS	30
Video codec	AV1 (yuv420p)

Observation state (14-dim)

6 arm joint positions + slider velocity + 7 motor currents:

shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos, slider.vel, shoulder_pan.current, shoulder_lift.current, elbow_flex.current, wrist_flex.current, wrist_roll.current, gripper.current, slider.current

Action (7-dim)

shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos, slider.vel