Datasets:
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observation.state listlengths 6 6 | observation.velocity listlengths 6 6 | action listlengths 6 6 | episode_index int64 0 399 | frame_index int64 0 287 | timestamp float32 0 9.57 | next.done bool 2
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End of preview. Expand in Data Studio
robosim-so101-pickup-v2
MuJoCo-simulated "pick up 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 cube at a randomized position with varied size/mass/friction/color
- FK-based inverse kinematics computes joint waypoints for each cube configuration
- Hybrid collision: arm ghosts through cube during approach, then real contact enabled during grasp/lift
- 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 and contact forces)
- Observations recorded at 30fps in LeRobot v3 format
- Each physics episode generates 1 augmented copy (Gaussian noise + spatial jitter)
Dataset Details
| Property | Value |
|---|---|
| Robot Type | arm |
| Robot ID | so-101 |
| FPS | 30 |
| Physics Episodes | 200 |
| Augmented Episodes | 200 |
| Total Episodes | 400 |
| Total Frames | 93460 |
| Physics Success Rate | 200/200 (cube lifted > 5cm) |
| Task | pick_object |
| 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 (~1.5s) — arm moves above the cube (collisions OFF)
- Approach (~1.5s) — arm descends to grasp position (collisions OFF)
- Grasp (~0.8s) — gripper closes, collisions ON (real contact forces)
- Lift (~3.0s) — arm lifts the cube to 10cm above table (collisions ON)
Phase durations vary per episode due to speed randomization (0.8x-1.2x).
Domain Randomization
| Parameter | Range |
|---|---|
| Cube X position | 12-24cm |
| Cube Y position | -8cm to +8cm |
| Cube half-size | 1.5-2.5cm (3-5cm full) |
| Cube mass | 30-80g |
| Cube friction | 0.8-1.2 |
| Cube color | Random RGB |
| Robot speed | 0.8x-1.2x |
200 unique configurations (seeded RNG, seed=42 for reproducibility).
Trajectory Augmentation
Each physics episode generates 1 augmented copy with:
- Gaussian action noise (std=1.5 degrees on joints 0-4)
- Spatial jitter (std=0.5 degree constant offset per joint)
- Seeded RNG (seed=123) for reproducibility
Physics Details
- Hybrid collision: arm starts with contype=2 (ghost), switches to contype=3 (real contact) before grasp
- 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: real arm-cube contact forces during grasp/lift; cube always collides with table
Usage with LeRobot
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
dataset = LeRobotDataset("houmans/robosim-so101-pickup-v2")
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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