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README.md

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+---
+license: mit
+task_categories:
+- robotics
+tags:
+- LeRobot
+- SO-ARM101
+pretty_name: SO-ARM101 Pick and Place Dataset
+---
+
+# 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
+
+```python
+from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
+
+# Load dataset
+dataset = LeRobotDataset("edgarkim/so_arm101")
+
+# Access first frame
+frame = dataset[0]
+print(frame.keys())
+```
+
+## Citation
+
+If you use this dataset, please cite:
+
+```bibtex
+@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}}
+}
+```
+
+## License
+
+MIT License

data/chunk-000/episode_000000.parquet

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data/chunk-000/episode_000001.parquet

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meta/episodes.jsonl

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+{"episode_index": 0, "tasks": ["Pick up the red square block and place it inside the green square area on the right."], "length": 134}
+{"episode_index": 1, "tasks": ["Pick up the red square block and place it inside the green square area on the right."], "length": 275}

meta/episodes_stats.jsonl

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meta/info.json

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+{
+    "codebase_version": "v2.1",
+    "robot_type": "so101_follower",
+    "total_episodes": 2,
+    "total_frames": 409,
+    "total_tasks": 1,
+    "total_videos": 4,
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+    "splits": {
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+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
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+                "shoulder_lift.pos",
+                "elbow_flex.pos",
+                "wrist_flex.pos",
+                "wrist_roll.pos",
+                "gripper.pos"
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+                "elbow_flex.pos",
+                "wrist_flex.pos",
+                "wrist_roll.pos",
+                "gripper.pos"
+            ]
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+        "observation.images.wrist": {
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+                640,
+                3
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+            "names": [
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+                "channels"
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+        "observation.images.front": {
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+    }
+}

meta/modality.json

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+{
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+            "end": 5
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+        "wrist": {
+            "original_key": "observation.images.wrist"
+        }
+    },
+    "annotation": {
+        "human.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}

meta/tasks.jsonl

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