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houmans
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robosim-red-cube-pickup-test

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Robotics
Modalities:
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parquet
Size:
10K - 100K
Tags:
robotics
lerobot
arm
so-101
robosim
pickup
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Datasets
Dask
Polars
License:
Dataset card Data Studio Files
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houmans commited on
Commit
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Upload 50 MuJoCo-simulated pickup episodes (real physics, FK-IK, collision filtering)

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50 episodes with 50/50 successful lifts. Domain-randomized cube positions, FK-based IK, position actuators, qpos grasp attachment.

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  1. README.md +25 -19
  2. data/chunk-000/episode_000000.parquet +2 -2
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README.md CHANGED
@@ -23,12 +23,13 @@ generated by [RoboSim](https://github.com/hshadab/robosim).
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  Each episode runs **real MuJoCo physics simulation** (mujoco-js WASM, MuJoCo 3.3.8):
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- 1. The SO-101 arm MJCF model is loaded into MuJoCo with a red cube at a randomized position
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- 2. Joint targets are set via PD position-controlled actuators (matching STS3215 servos)
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- 3. MuJoCo solves the full rigid-body dynamics — gravity, contact, friction, inertia
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- 4. Joint angles are **read back from the physics state** (not the commanded targets)
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- 5. This captures realistic servo tracking behavior: overshoot, settling, dynamics
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- 6. Observations recorded at 30fps in LeRobot v3 format
 
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  ## Dataset Details
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@@ -37,13 +38,14 @@ Each episode runs **real MuJoCo physics simulation** (mujoco-js WASM, MuJoCo 3.3
37
  | Robot Type | arm |
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  | Robot ID | so-101 |
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  | FPS | 30 |
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- | Episodes | 5 |
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- | Total Frames | 600 |
 
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  | Task | pick_object |
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  | Object | Red Cube (3cm, 50g) |
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  | Simulation | MuJoCo 3.3.8 (mujoco-js WASM) |
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  | Timestep | 0.002s (500Hz physics, 30Hz recording) |
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- | Solver | Newton, 50 iterations |
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  | Format | LeRobot v3.0 (real Apache Parquet) |
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  ## Joint Channels
@@ -58,19 +60,23 @@ Additional feature: `observation.velocity` — joint velocities from MuJoCo dyna
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  ## Pickup Phases Per Episode
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  1. **Home** (0.5s) — arm at rest position, gripper open
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- 2. **Pre-grasp** (1.0s) — arm moves above the cube
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- 3. **Approach** (0.8s) — arm descends to grasp position
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- 4. **Grasp** (0.5s) — gripper closes around the cube
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- 5. **Lift** (1.2s) — arm lifts the cube
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  ## Domain Randomization
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- Cube position varies across episodes:
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- - Episode 0: cube at [18, 0, 2]cm
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- - Episode 1: cube at [16, 2, 2]cm
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- - Episode 2: cube at [20, -1, 2]cm
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- - Episode 3: cube at [17, 2, 2]cm
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- - Episode 4: cube at [15, -2, 2]cm
 
 
 
 
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  ## Usage with LeRobot
76
 
 
23
 
24
  Each episode runs **real MuJoCo physics simulation** (mujoco-js WASM, MuJoCo 3.3.8):
25
 
26
+ 1. The SO-101 arm MJCF model is loaded with a red cube at a randomized position
27
+ 2. FK-based inverse kinematics computes joint waypoints for each cube position
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+ 3. Collision filtering (contype/conaffinity) prevents arm links from pushing the cube
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+ 4. Position-controlled actuators (kp=100) drive the arm through approach, grasp, lift phases
30
+ 5. Grasp is simulated via rigid qpos attachment (cube tracks gripper once jaws close)
31
+ 6. Joint angles are **read back from the physics state** (capturing dynamics, not just targets)
32
+ 7. Observations recorded at 30fps in LeRobot v3 format
33
 
34
  ## Dataset Details
35
 
 
38
  | Robot Type | arm |
39
  | Robot ID | so-101 |
40
  | FPS | 30 |
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+ | Episodes | 50 |
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+ | Total Frames | 11350 |
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+ | Success Rate | 50/50 (cube lifted > 5cm) |
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  | Task | pick_object |
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  | Object | Red Cube (3cm, 50g) |
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  | Simulation | MuJoCo 3.3.8 (mujoco-js WASM) |
47
  | Timestep | 0.002s (500Hz physics, 30Hz recording) |
48
+ | Solver | Newton, 100 iterations |
49
  | Format | LeRobot v3.0 (real Apache Parquet) |
50
 
51
  ## Joint Channels
 
60
  ## Pickup Phases Per Episode
61
 
62
  1. **Home** (0.5s) — arm at rest position, gripper open
63
+ 2. **Pre-grasp** (1.8s) — arm moves above the cube
64
+ 3. **Approach** (1.8s) — arm descends to grasp position
65
+ 4. **Grasp** (0.8s) — gripper closes around the cube
66
+ 5. **Lift** (3.0s) — arm lifts the cube to 10cm above table
67
 
68
  ## Domain Randomization
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+ - Cube X position: 14-22cm (arm reach range)
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+ - Cube Y position: -6cm to +6cm (lateral offset)
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+ - 50 unique cube positions (seeded RNG for reproducibility)
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+
74
+ ## Physics Details
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+
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+ - **Collision filtering**: arm geoms (contype=2) pass through cube (contype=1)
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+ - **Position actuators**: kp=100 with damping=5, armature=0.5 for stable tracking
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+ - **Grasp simulation**: cube freejoint qpos tracks gripper_link + offset each timestep
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+ - **Contact**: cube still collides with table (contype=3), full friction model
80
 
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  ## Usage with LeRobot
82
 
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