Garyrewrea1/grasp_blocks_red_50

Red Block Grasping Dataset (SO-101)

Dataset Description

This dataset contains robot manipulation demonstrations for grasping red wooden blocks, collected using the SO-101 (SO Follower) robot arm. The dataset is designed for training imitation learning models for robotic manipulation tasks.

Dataset Summary

• Total Episodes: 50
• Total Frames: 29,443
• Frame Rate: 30 FPS
• Robot Type: SO Follower (SO-101)
• Task: Grasping red wooden blocks
• Data Size: ~317 MB
  • Data files: 100 MB
  • Video files: 200 MB

Dataset Structure

Data Format

The dataset follows the LeRobot v3.0 format with the following structure:

grasp_blocks_red_50/
├── data/                          # Action and state data in Parquet format
│   └── chunk-000/
├── meta/                          # Metadata and episode information
│   ├── episodes/
│   ├── info.json                 # Dataset configuration
│   ├── stats.json                # Statistical information
│   └── tasks.parquet             # Task definitions
└── videos/                        # Multi-view video observations
    ├── observation.images.front/  # Front camera view (640x480, 30fps)
    └── observation.images.side/   # Side camera view (640x480, 30fps)

Features

Action Space (6-DOF)

• shoulder_pan.pos: Shoulder pan joint position
• shoulder_lift.pos: Shoulder lift joint position
• elbow_flex.pos: Elbow flex joint position
• wrist_flex.pos: Wrist flex joint position
• wrist_roll.pos: Wrist roll joint position
• gripper.pos: Gripper position

Observation Space

State (6-DOF joint positions):

• Same structure as action space

Visual Observations:

• Front Camera: 640x480 RGB images at 30 FPS (AV1 codec)
• Side Camera: 640x480 RGB images at 30 FPS (AV1 codec)

Additional Features

• timestamp: Frame timestamp
• frame_index: Frame index within episode
• episode_index: Episode identifier
• task_index: Task identifier

Usage

Loading with LeRobot

from lerobot.common.datasets.lerobot_dataset import LeRobotDataset

dataset = LeRobotDataset("Garyrewrea1/grasp_blocks_red_50")

# Access a sample
sample = dataset[0]
print(sample.keys())  # dict_keys(['action', 'observation.state', 'observation.images.front', 'observation.images.side', ...])

Loading with Hugging Face Datasets

from datasets import load_dataset

dataset = load_dataset("Garyrewrea1/grasp_blocks_red_50")

Robot Platform

SO-101 (SO Follower): A 6-DOF robotic arm designed for manipulation tasks. The robot features:

• 6 degrees of freedom
• Parallel gripper
• Dual camera setup (front and side views)
• 30 Hz control frequency

Collection Details

• Environment: Desktop manipulation setup
• Objects: Red wooden blocks
• Task: Pick and place operations
• Collection Method: Teleoperation demonstrations
• Cameras: Dual RGB cameras (front and side views)

Data Splits

• Train: All 50 episodes (episodes 0-49)

License

Apache 2.0

Citation

If you use this dataset, please cite:

@dataset{grasp_blocks_red_50,
  author = {Garyrewrea1},
  title = {Red Block Grasping Dataset (SO-101)},
  year = {2026},
  publisher = {Hugging Face},
  url = {https://huggingface.co/datasets/Garyrewrea1/grasp_blocks_red_50}
}

Contact

For questions or issues, please open an issue on the dataset page.