SO-101 7-DOF red/white/blue cube pick-and-place (wide 16:9 front camera)
These are 302 teleoperated pick-and-place demonstrations on a custom 7-DOF SO-101 arm. Each one carries a colour-specific language instruction. The dataset was recorded with LeRobot (codebase v3.0) at 30 fps, with a full-field-of-view 1280×720 front camera.
Task
There are three coloured cubes (red, white, blue) and a black bin on a cork mat. Each episode follows one instruction:
| instruction | episodes |
|---|---|
put the red cube in the bin |
101 |
put the white cube in the bin |
101 |
put the blue cube in the bin |
100 |
Episodes average 12.5 s (113,599 frames in total). Cube and bin positions vary, and some scenes have stacked cubes.
Robot
The arm is a modified SO-101 with 6 joints plus a gripper (7 Feetech STS3215 motors). It has an extra, limited-range wrist_pitch joint between wrist_flex and wrist_roll. It was teleoperated in joint space from a matching 7-DOF leader arm, with no IK.
action and observation.state are 7-D, in degrees (gripper in its calibrated range), in this order:
shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_pitch, wrist_roll, gripper
⚠️ The order differs from stock 6-DOF SO-100/SO-101 data:
wrist_pitchis inserted at index 4.
Cameras
| key | resolution | notes |
|---|---|---|
observation.images.front |
1280×720 (16:9) | Logitech Brio 100, captured as MJPG. Full sensor FOV (no 4:3 crop). |
observation.images.wrist |
640×480 | Mounted on the gripper |
This is the wide-angle successor to NilsCode/so101_cube_suite, whose 4:3 front camera crops the mat edges.
Curation
curation.json lists the episodes a human reviewer accepted (296) or rejected (6: indices 4, 9, 17, 91, 92, 301). Nothing was removed from the dataset; pass the accepted list to --dataset.episodes to use the curated subset.
Known limitations
- One operator, one workspace.
- Only one instruction template; the colour word is the only difference between tasks.
- Some episodes are very short (minimum 1.8 s). Check the curation list.
Associated reports
This data underlies a set of technical reports on fine-tuning VLAs (SmolVLA, π0.5) on this arm, a vision-only inverse dynamics model, and a Cosmos world-model fine-tune. arXiv links will be added once posted.
License
CC BY 4.0. Author: Nilesh Sutar.
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