| | --- |
| | license: mit |
| | task_categories: |
| | - robotics |
| | tags: |
| | - LeRobot |
| | - SO-ARM101 |
| | pretty_name: SO-ARM101 Pick and Place Dataset |
| | --- |
| | |
| | # SO-ARM101 Pick and Place Dataset |
| |
|
| | ## Dataset Description |
| |
|
| | This dataset contains demonstrations of a SO-ARM101 robotic arm performing pick-and-place tasks. |
| |
|
| | **Task**: Pick up the red square block and place it inside the green square area on the right. |
| |
|
| | ## Dataset Structure |
| |
|
| | - **Format**: LeRobot v2.1 |
| | - **Robot**: SO-ARM101 (6 DOF arm) |
| | - **Total Episodes**: 2 |
| | - **Total Frames**: 409 |
| | - **FPS**: 30 |
| | - **Video Resolution**: 640x480 |
| | - **Cameras**: 2 (wrist camera, front camera) |
| |
|
| | ## Features |
| |
|
| | ### Observations |
| | - **State**: 6D joint positions (degrees) |
| | - shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper |
| | - **Images**: |
| | - Wrist camera (640x480x3) |
| | - Front camera (640x480x3) |
| | |
| | ### Actions |
| | - 6D joint position commands (degrees) |
| | |
| | ## Usage |
| | |
| | ```python |
| | from lerobot.common.datasets.lerobot_dataset import LeRobotDataset |
| |
|
| | # Load dataset |
| | dataset = LeRobotDataset("edgarkim/so_arm101") |
| | |
| | # Access first frame |
| | frame = dataset[0] |
| | print(frame.keys()) |
| | ``` |
| | |
| | ## Citation |
| | |
| | If you use this dataset, please cite: |
| | |
| | ```bibtex |
| | @dataset{so_arm101_pickplace, |
| | title = {SO-ARM101 Pick and Place Dataset}, |
| | author = {Edgar Kim}, |
| | year = {2025}, |
| | publisher = {Hugging Face}, |
| | howpublished = {\url{https://huggingface.co/datasets/edgarkim/so_arm101}} |
| | } |
| | ``` |
| | |
| | ## License |
| | |
| | MIT License |
| | |
