---
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}
}
```