--- license: apache-2.0 task_categories: - robotics tags: - lerobot - so101 - teleoperation - manipulation configs: - config_name: default data_files: data/**/file-*.parquet --- # leslider-pick-blue-cube Teleoperation dataset for picking a blue cube up and holding it using the LeSlider robot — an SO-101 arm mounted on a linear slider. ## Robot - **Arm:** SO-101 (6-DOF, Feetech STS3215) - **Slider:** STS3215 in velocity/wheel mode for continuous linear travel - **Cameras:** arm-mounted camera + overhead camera (640×480, 30 fps) ## Collection Collected via [LiveKit Portal](https://github.com/livekit/livekit-portal) teleoperation. The operator mirrors arm joints through a physical SO-101 leader arm; slider position is controlled with keyboard arrow keys. ## Dataset | | | |---|---| | Episodes | 52 | | Frames | 31 987 | | FPS | 30 | | Video codec | AV1 (yuv420p) | Single task: **"Pick the blue cube up and hold it"**. ### Observation state (7-dim) 6 arm joint positions + slider velocity: `shoulder_pan.pos`, `shoulder_lift.pos`, `elbow_flex.pos`, `wrist_flex.pos`, `wrist_roll.pos`, `gripper.pos`, `slider.vel` ### Action (7-dim) `shoulder_pan.pos`, `shoulder_lift.pos`, `elbow_flex.pos`, `wrist_flex.pos`, `wrist_roll.pos`, `gripper.pos`, `slider.vel` ## Usage ```python from lerobot.datasets.lerobot_dataset import LeRobotDataset ds = LeRobotDataset("/leslider-pick-blue-cube") print(ds) # 52 episodes, 31 987 frames @ 30 fps sample = ds[0] # sample["observation.state"] (7,) # sample["action"] (7,) # sample["observation.images.arm_camera"] (3, 480, 640) # sample["observation.images.overhead_camera"] (3, 480, 640) ```