CLARU
himanshu9series2026apache-2.0

LeIsaac PickOrange — Prepared Dataset (GR00T-ready)

Pre-processed version of the LeIsaac PickOrange dataset optimized for GR00T N1.6 fine-tuning, featuring 60 teleoperation demonstrations of a SO-101 robot picking oranges in a kitchen scene. The dataset includes re-encoded H.264 videos, added annotation columns, and modality configuration for multi-camera manipulation tasks.

Downloads36
Episodes60
Hours0.336

Technical Profile

Modalities
rgbproprioceptionlanguage
Robot Embodiments
SO-101
Action Space
6-DoF: shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos
Environment
kitchensimulation
Task Types
pick_and_placemanipulationgrasping
Episodes
60
Total Hours
0.336
Data Format
LeRobot
License
apache-2.0
Part of the LeIsaac PickOrange — Prepared Dataset (GR00T-ready) family

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