---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- vision-language-action
- imitation-learning
- manipulation
configs:
- config_name: default
  data_files: data/*/*.parquet
---

# Kinova Gen3 cube stacking (simulated)

360 demonstrations of color-conditioned cube stacking on a simulated Kinova Gen3, generated in
MuJoCo by a scripted inverse-kinematics oracle and published in
[LeRobot](https://github.com/huggingface/lerobot) v3.0 format. A red, a green, and a blue cube
sit on a table. Each episode has a prompt such as `stack the red cube on the green cube`, and the
arm picks the named cube and places it on the named target. All six color orderings are present,
60 episodes each.

The reference checkpoint trained on this dataset is
[`pi05_kinova_gen3_cube_stack_sim`](https://huggingface.co/PickNikRobotics/pi05_kinova_gen3_cube_stack_sim).

## Contents

| | |
|---|---|
| Episodes | 360 |
| Frames | 59,312 |
| Tasks | 6 |
| Robot | Kinova Gen3 7-DoF with a Robotiq 2F-85 gripper |
| Control rate | 10 Hz |
| Format | LeRobot v3.0 |

| feature | dtype | shape | contents |
|---|---|---|---|
| `observation.state` | float32 | [8] | measured position of `joint_1`...`joint_7` and `robotiq_85_left_knuckle_joint` |
| `action` | float32 | [8] | commanded position, same channel order |
| `observation.images.scene` | video | [480, 480, 3] | fixed view of the workspace |
| `observation.images.wrist` | video | [480, 480, 3] | wrist-mounted camera |
| `observation.images.overview` | video | [480, 480, 3] | top-down view |

Video is H.264, `yuv420p`. Cube positions are randomized per episode within the arm's top-down
reach.

`meta/train_layouts.jsonl` gives the starting cube pose for each episode, keyed by
`episode_index`. `meta/eval_layouts.jsonl` gives the 150 held-out layouts used to evaluate the
reference checkpoint. Both record cube positions and yaws in the order red, green, blue, with
`held` and `target` indexing into that order.

## License

Apache-2.0. The data is PickNik-generated: simulated trajectories and renders from our own MuJoCo
scene.