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README.md

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+---
+license: apache-2.0
+task_categories:
+  - robotics
+tags:
+  - lerobot
+  - so101
+  - manipulation
+  - pick-and-place
+  - simulation
+  - mujoco
+configs:
+  - config_name: default
+    data_files:
+      - split: train
+        path: "data/**/*.parquet"
+---
+
+# SO-101 Pick Cube Dataset
+
+<p align="center">
+  <img src="preview.png" alt="Dataset Preview" width="800"/>
+</p>
+
+A robotics manipulation dataset featuring the **SO-101 robot arm** performing pick-and-place tasks in MuJoCo simulation. The robot learns to pick up a cube and place it into a bin.
+
+## Dataset Details
+
+| Property | Value |
+|----------|-------|
+| Robot | SO-101 (6-DoF arm with gripper) |
+| Task | Pick cube and place in bin |
+| Episodes | 993 |
+| FPS | 30 |
+| Cameras | 3 (front, overhead, wrist) |
+| Resolution | 640x480 |
+| Format | LeRobot v2.0 |
+
+## Cameras
+
+- **Front Camera**: Third-person view of the workspace
+- **Overhead Camera**: Top-down bird's eye view
+- **Wrist Camera**: First-person view from the gripper
+
+## Joint States
+
+The dataset includes 6 joint positions and actions:
+- `shoulder_pan` - Base rotation
+- `shoulder_lift` - Shoulder elevation
+- `elbow_flex` - Elbow bend
+- `wrist_flex` - Wrist pitch
+- `wrist_roll` - Wrist rotation
+- `gripper` - Gripper open/close
+
+## Usage
+
+```python
+from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
+
+dataset = LeRobotDataset("gpudad/so101_pick_cube")
+print(f"Number of episodes: {dataset.num_episodes}")
+print(f"Number of frames: {dataset.num_frames}")
+```
+
+### Training with LeRobot
+
+```bash
+# Train ACT policy
+python lerobot/scripts/train.py \
+  --dataset.repo_id=gpudad/so101_pick_cube \
+  --policy=act \
+  --output_dir=outputs/act_so101_pick_cube
+```
+
+## Environment
+
+The simulation environment uses MuJoCo with:
+- SO-101 robot arm mounted on a table
+- A colored cube as the manipulation target
+- A bin as the placement destination
+- Randomized cube positions for diverse training data
+
+## License
+
+This dataset is released under the Apache 2.0 License.
+
+## Citation
+
+```bibtex
+@dataset{so101_pick_cube_2025,
+  title={SO-101 Pick Cube Dataset},
+  author={gpudad},
+  year={2025},
+  publisher={Hugging Face},
+  url={https://huggingface.co/datasets/gpudad/so101_pick_cube}
+}
+```

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meta/info.json

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