edgarkim/so_arm101_3

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

from lerobot.common.datasets.lerobot_dataset import LeRobotDataset

# Load dataset
dataset = LeRobotDataset("edgarkim/so_arm101_3")

# Access first frame
frame = dataset[0]
print(frame.keys())

Citation

If you use this dataset, please cite:

@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_3}}
}

License

MIT License