---
license: mit
task_categories:
  - object-detection
  - image-segmentation
language:
  - en
tags:
  - robotics
  - instance-segmentation
  - so101
  - mujoco
  - synthetic
  - coco
pretty_name: SO-101 Instance Segmentation
size_categories:
  - 1K<n<10K
---

# SO-101 Instance Segmentation Dataset

Instance segmentation dataset for the [SO-101](https://github.com/TheRobotStudio/SO-ARM100) robot arm, combining MuJoCo domain-randomised synthetic renders with hand-labelled real frames.

This dataset can be used to create a segmentation model for tracking the movements of the SO-101

![Dataset preview](dataset_preview.gif)

## Categories

8 classes, all prefixed `so101_`:

| ID | Name | Notes |
|----|------|-------|
| 1 | `so101_base` | |
| 2 | `so101_shoulder` | |
| 3 | `so101_upper_arm` | |
| 4 | `so101_lower_arm` | |
| 5 | `so101_wrist` | |
| 6 | `so101_gripper` | includes moving jaw in hand-labelled images |
| 7 | `so101_camera_mount` | |
| 8 | `so101_moving_jaw` | **synthetic only** — not present in hand-labelled images |

### License/Attributions

This dataset is under the MIT license, although....I'd prefer if you could keep a link to my website where you're using this dataset (I am looking out for contracts/jobs right now!)


### Third-party 3D assets, used to create this dataset (although, they don't have color...haha, so I'm not sure)

The distractor mesh assets used in the dataset generation script are sourced from [Sketchfab](https://sketchfab.com) and are not covered by the Apache-2.0 license. Attribution is required per their individual licenses:

| File | Title | Author | License |
|------|-------|--------|---------|
| `beer_mug_glass.glb` | [Beer Mug Glass](https://sketchfab.com/3d-models/beer-mug-glass-e971453ae97043a2b1348faf36065fed) | [i-m-a-kitty-cat](https://sketchfab.com/i-m-a-kitty-cat) | [CC-BY-4.0](http://creativecommons.org/licenses/by/4.0/) |
| `coffee_mug_school_project.glb` | [Coffee Mug (School Project)](https://sketchfab.com/3d-models/coffee-mug-school-project-5f5ccee1514c440887c072fae8e0d699) | [Ole Gunnar Isager](https://sketchfab.com/FrenchBaguette) | [CC-BY-4.0](http://creativecommons.org/licenses/by/4.0/) |
| `hamburger.glb` | [HAMBURGER](https://sketchfab.com/3d-models/hamburger-b4cc15417d58445ebb698229d6161e61) | [gelmi.com.br](https://sketchfab.com/rodrigogelmi) | [CC-BY-4.0](http://creativecommons.org/licenses/by/4.0/) |
| `pencil.glb` | [Pencil](https://sketchfab.com/3d-models/pencil-e67db84c8d2442519353afbae5220de0) | [Akshat](https://sketchfab.com/shooter24994) | [CC-BY-4.0](http://creativecommons.org/licenses/by/4.0/) |
| `rubber_duck.glb` | [Rubber duck](https://sketchfab.com/3d-models/rubber-duck-f1de4fc390db4266a509b9739350512a) | [Ikki_3d](https://sketchfab.com/ikki_3d) | [CC-BY-4.0](http://creativecommons.org/licenses/by/4.0/) |
| `small_trees.glb` | [Small Trees](https://sketchfab.com/3d-models/small-trees-18445272ace448ceb1429a96f5ecc31b) | [BazukaliKartal](https://sketchfab.com/BazukaliKartal) | [CC-BY-4.0](http://creativecommons.org/licenses/by/4.0/) |
| `some_eraser.glb` | [some eraser](https://sketchfab.com/3d-models/some-eraser-6732042e258b469a84262c07ec5b86a8) | [Artieee](https://sketchfab.com/Artieee) | [CC-BY-4.0](http://creativecommons.org/licenses/by/4.0/) |
| `take_away_coffee_cup_set.glb` | [Take Away Coffee Cup Set](https://sketchfab.com/3d-models/take-away-coffee-cup-set-2b7a38b71d78439b81e329c5540197ea) | [Wendy.H.L](https://sketchfab.com/Wendy.H.L) | [CC-BY-4.0](http://creativecommons.org/licenses/by/4.0/) |
| `stablio_color_pen_high_quality/` | [Stablio Color Pen High Quality](https://sketchfab.com/3d-models/stablio-color-pen-high-quality-1743535b3d5e4cf5a897fa7b192e136c) | [barsoomerian](https://sketchfab.com/barsoomerian) | [CC-BY-4.0](http://creativecommons.org/licenses/by/4.0/) |