riversnow/so101-segmentation

SO-101 Instance Segmentation Dataset

Instance segmentation dataset for the SO-101 robot arm, combining MuJoCo domain-randomised synthetic renders with hand-labelled real frames.

This dataset can be used to create a segmentation model for tracking the movements of the SO-101

Categories

8 classes, all prefixed so101_:

ID	Name	Notes
1	so101_base
2	so101_shoulder
3	so101_upper_arm
4	so101_lower_arm
5	so101_wrist
6	so101_gripper	includes moving jaw in hand-labelled images
7	so101_camera_mount
8	so101_moving_jaw	synthetic only — not present in hand-labelled images

License/Attributions

This dataset is under the MIT license, although....I'd prefer if you could keep a link to my website where you're using this dataset (I am looking out for contracts/jobs right now!)

Third-party 3D assets, used to create this dataset (although, they don't have color...haha, so I'm not sure)

The distractor mesh assets used in the dataset generation script are sourced from Sketchfab and are not covered by the Apache-2.0 license. Attribution is required per their individual licenses:

File	Title	Author	License
beer_mug_glass.glb	Beer Mug Glass	i-m-a-kitty-cat	CC-BY-4.0
coffee_mug_school_project.glb	Coffee Mug (School Project)	Ole Gunnar Isager	CC-BY-4.0
hamburger.glb	HAMBURGER	gelmi.com.br	CC-BY-4.0
pencil.glb	Pencil	Akshat	CC-BY-4.0
rubber_duck.glb	Rubber duck	Ikki_3d	CC-BY-4.0
small_trees.glb	Small Trees	BazukaliKartal	CC-BY-4.0
some_eraser.glb	some eraser	Artieee	CC-BY-4.0
take_away_coffee_cup_set.glb	Take Away Coffee Cup Set	Wendy.H.L	CC-BY-4.0
stablio_color_pen_high_quality/	Stablio Color Pen High Quality	barsoomerian	CC-BY-4.0