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LICENSE

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+MIT License
+
+Copyright (c) 2026 Aditya Shankar (River)
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

README.md

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+# SO-101 Instance Segmentation Dataset
+
+Instance segmentation dataset for the [SO-101](https://github.com/TheRobotStudio/SO-ARM100) 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
+
+![Dataset preview](dataset_preview.gif)
+
+## 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](https://sketchfab.com) 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](https://sketchfab.com/3d-models/beer-mug-glass-e971453ae97043a2b1348faf36065fed) | [i-m-a-kitty-cat](https://sketchfab.com/i-m-a-kitty-cat) | [CC-BY-4.0](http://creativecommons.org/licenses/by/4.0/) |
+| `coffee_mug_school_project.glb` | [Coffee Mug (School Project)](https://sketchfab.com/3d-models/coffee-mug-school-project-5f5ccee1514c440887c072fae8e0d699) | [Ole Gunnar Isager](https://sketchfab.com/FrenchBaguette) | [CC-BY-4.0](http://creativecommons.org/licenses/by/4.0/) |
+| `hamburger.glb` | [HAMBURGER](https://sketchfab.com/3d-models/hamburger-b4cc15417d58445ebb698229d6161e61) | [gelmi.com.br](https://sketchfab.com/rodrigogelmi) | [CC-BY-4.0](http://creativecommons.org/licenses/by/4.0/) |
+| `pencil.glb` | [Pencil](https://sketchfab.com/3d-models/pencil-e67db84c8d2442519353afbae5220de0) | [Akshat](https://sketchfab.com/shooter24994) | [CC-BY-4.0](http://creativecommons.org/licenses/by/4.0/) |
+| `rubber_duck.glb` | [Rubber duck](https://sketchfab.com/3d-models/rubber-duck-f1de4fc390db4266a509b9739350512a) | [Ikki_3d](https://sketchfab.com/ikki_3d) | [CC-BY-4.0](http://creativecommons.org/licenses/by/4.0/) |
+| `small_trees.glb` | [Small Trees](https://sketchfab.com/3d-models/small-trees-18445272ace448ceb1429a96f5ecc31b) | [BazukaliKartal](https://sketchfab.com/BazukaliKartal) | [CC-BY-4.0](http://creativecommons.org/licenses/by/4.0/) |
+| `some_eraser.glb` | [some eraser](https://sketchfab.com/3d-models/some-eraser-6732042e258b469a84262c07ec5b86a8) | [Artieee](https://sketchfab.com/Artieee) | [CC-BY-4.0](http://creativecommons.org/licenses/by/4.0/) |
+| `take_away_coffee_cup_set.glb` | [Take Away Coffee Cup Set](https://sketchfab.com/3d-models/take-away-coffee-cup-set-2b7a38b71d78439b81e329c5540197ea) | [Wendy.H.L](https://sketchfab.com/Wendy.H.L) | [CC-BY-4.0](http://creativecommons.org/licenses/by/4.0/) |
+| `stablio_color_pen_high_quality/` | [Stablio Color Pen High Quality](https://sketchfab.com/3d-models/stablio-color-pen-high-quality-1743535b3d5e4cf5a897fa7b192e136c) | [barsoomerian](https://sketchfab.com/barsoomerian) | [CC-BY-4.0](http://creativecommons.org/licenses/by/4.0/) |

dataset_preview.mp4

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+version https://git-lfs.github.com/spec/v1
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+size 3206833