Datasets:
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observation.state listlengths 6 6 | observation.velocity listlengths 6 6 | action listlengths 6 6 | episode_index int64 0 49 | frame_index int64 0 226 | timestamp float32 0 7.53 | next.done bool 2 classes | task_index int64 0 0 |
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End of preview. Expand
in Data Studio
robosim-red-cube-pickup-test
MuJoCo-simulated "pick up red cube" training data for the SO-101 robot arm, generated by RoboSim.
How This Data Was Generated
Each episode runs real MuJoCo physics simulation (mujoco-js WASM, MuJoCo 3.3.8):
- The SO-101 arm MJCF model is loaded with a red cube at a randomized position
- FK-based inverse kinematics computes joint waypoints for each cube position
- Collision filtering (contype/conaffinity) prevents arm links from pushing the cube
- Position-controlled actuators (kp=100) drive the arm through approach, grasp, lift phases
- Grasp is simulated via rigid qpos attachment (cube tracks gripper once jaws close)
- Joint angles are read back from the physics state (capturing dynamics, not just targets)
- Observations recorded at 30fps in LeRobot v3 format
Dataset Details
| Property | Value |
|---|---|
| Robot Type | arm |
| Robot ID | so-101 |
| FPS | 30 |
| Episodes | 50 |
| Total Frames | 11350 |
| Success Rate | 50/50 (cube lifted > 5cm) |
| Task | pick_object |
| Object | Red Cube (3cm, 50g) |
| Simulation | MuJoCo 3.3.8 (mujoco-js WASM) |
| Timestep | 0.002s (500Hz physics, 30Hz recording) |
| Solver | Newton, 100 iterations |
| Format | LeRobot v3.0 (real Apache Parquet) |
Joint Channels
6-DOF observations and actions: [shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper]
- Joints 0-4: degrees (matching real SO-101 STS3215 servos)
- Joint 5 (gripper): 0-100% (0=closed, 100=fully open)
Additional feature: observation.velocity — joint velocities from MuJoCo dynamics
Pickup Phases Per Episode
- Home (0.5s) — arm at rest position, gripper open
- Pre-grasp (1.8s) — arm moves above the cube
- Approach (1.8s) — arm descends to grasp position
- Grasp (0.8s) — gripper closes around the cube
- Lift (3.0s) — arm lifts the cube to 10cm above table
Domain Randomization
- Cube X position: 14-22cm (arm reach range)
- Cube Y position: -6cm to +6cm (lateral offset)
- 50 unique cube positions (seeded RNG for reproducibility)
Physics Details
- Collision filtering: arm geoms (contype=2) pass through cube (contype=1)
- Position actuators: kp=100 with damping=5, armature=0.5 for stable tracking
- Grasp simulation: cube freejoint qpos tracks gripper_link + offset each timestep
- Contact: cube still collides with table (contype=3), full friction model
Usage with LeRobot
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
dataset = LeRobotDataset("houmans/robosim-red-cube-pickup-test")
print(f"Episodes: {dataset.num_episodes}, Frames: {dataset.num_frames}")
Generated by
RoboSim — Browser-based robotics simulator with MuJoCo physics.
License
Apache 2.0
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