---
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