---
license: apache-2.0
task_categories:
- robotics
task_ids:
- grasping
tags:
- lerobot
- imitation-learning
- behavior-cloning
- manipulation
- pick-and-place
- so-arm101
configs:
- config_name: view_above
  data_files:
  - view_above/**
- config_name: view_side
  data_files:
  - view_side/**
---


# SO-ARM101 Pick-and-Place Dataset

This dataset contains teleoperated pick-and-place demonstrations collected on the SO-ARM101 6-DoF robotic arm using the LeRobot framework.

## Task

Grasp a red cube and place it into a gray bowl.

## Views

The dataset is organized into two subsets corresponding to different camera viewpoints:

- **view_above/**: Top-down camera view (30 episodes)
- **view_side/**: Side-view camera view (30 episodes)

Each subset contains independent demonstrations of the same task under a fixed camera setup.

## Data Collection

- **Robot**: SO-ARM101 (6-DoF, Feetech servos)
- **Episodes**: 60 total
- **Collection**: Leader–follower teleoperation
- **Observations**: RGB images, proprioception, actions