---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- so101
- robotics
configs:
- config_name: default
  data_files: data/*/*.parquet
---

# so101_cup_bluecircle_1task — SO-101 cup repositioning, 50 episodes

**▶ Full collection video (YouTube): https://youtu.be/s7c5Ls-Nkd0**

![front camera, 8x speed](preview_topview.gif)

*Front camera (fixed, elevated view), 8× speed — first 9 episodes, each starting the cup at a different position.*

50 teleoperated demonstrations on the SO-101 arm for the task:

> **"pick up the cup near the blue circle and place the cup to the blue circle"**

This dataset is part of a larger coffee-making robot project. The task is the **cup-repositioning primitive**, recorded in the project's actual workspace — the coffee machines stay in frame on purpose: this is the scene the policy is meant to run in.

A companion set with 20 additional, more varied placements: [nevertmr/so101_cup_bluecircle_1task_var](https://huggingface.co/datasets/nevertmr/so101_cup_bluecircle_1task_var)

This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).

<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=nevertmr/so101_cup_bluecircle_1task">
<img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/>
<img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/>
</a>

## Quick facts

| | |
|---|---|
| Episodes / frames | 50 / 19,138 @ 30 fps |
| Episode length | 10.2 – 16.6 s (avg 12.8 s) |
| Cameras | `front` (fixed, elevated front view of the workspace), `wrist` (gripper-mounted) — both 640×480 |
| Robot | SO-101 follower, teleoperated with an SO-101 leader arm |
| Recorded with | official LeRobot **v0.4.4** CLI, on an Apple Silicon MacBook — no external compute |
| Format | LeRobotDataset v3.0 |

## Scene geometry

- Two **fixed** cameras — positions never changed during collection, so pixel coordinates are consistent across all episodes.
- The blue circle is fixed to the table. **The cup is the only object that moves between episodes.** (In the `_var` companion set the circle also moves — see its card.)
- Background coffee machines are the deployment context of the parent project — kept exactly as-is in every frame.

## Placement design

- The cup starts at a **different position in every episode**, spread across roughly eight directions around the circle at varied close-range distances. The goal is directional diversity, not a strict grid.
- **Far placements are deliberately excluded** — that range is held out as a controlled out-of-distribution condition for downstream experiments (e.g., failure detection). If you train on this data, expect degradation once the cup starts well outside the collected range. That's by design.

### Placement coverage

All 50 cup start positions, extracted from a 4K top-view recording of the session (one frame at the start of each episode) and plotted on the shared background:

![all 50 cup start positions](placement_map.png)

Per-episode start frames, numbered 0–49:

![per-episode start frames](placement_grid.png)

## Recording protocol (identical in every episode)

1. Fixed home pose, gripper open.
2. **One second of stillness at the start** — frame 0 gives a clean view of the cup's start position, so displacement can be auto-labeled. (Measured: max joint std in the first second ≤ 0.15°.)
3. Approach → **single grasp** at mid-height, no regrasping → lift → transfer.
4. Release **only after the cup is in full contact with the table** inside the circle → retreat up and back.
5. **One second of stillness at the end** — the final still second is ground truth for the success state.

Fumbled or regrasped episodes were re-recorded on the spot, never patched afterwards.

## Usage

```python
from lerobot.datasets.lerobot_dataset import LeRobotDataset

ds = LeRobotDataset("nevertmr/so101_cup_bluecircle_1task")
print(ds.num_episodes, ds.num_frames)
```

## Versioning

**v1 — initial release (July 2026).** 50 episodes, close-range placements only.
Future re-collections (wider placements, more episodes, protocol changes) will be released as new versioned repos rather than overwriting this one.

## Limitations

- Single operator, single session — lighting constant throughout.
- One task instruction on every frame, character-for-character identical.
- Joint values are calibrated degrees (per-device calibration), not raw motor ticks.