diff --git a/README.md b/README.md index bbbf4937cb5658f98fa46696cd2660799e985658..640ee9f1bced53771bf9681aeba10c2d3e6555c2 100644 --- a/README.md +++ b/README.md @@ -23,12 +23,13 @@ generated by [RoboSim](https://github.com/hshadab/robosim). Each episode runs **real MuJoCo physics simulation** (mujoco-js WASM, MuJoCo 3.3.8): -1. The SO-101 arm MJCF model is loaded into MuJoCo with a red cube at a randomized position -2. Joint targets are set via PD position-controlled actuators (matching STS3215 servos) -3. MuJoCo solves the full rigid-body dynamics — gravity, contact, friction, inertia -4. Joint angles are **read back from the physics state** (not the commanded targets) -5. This captures realistic servo tracking behavior: overshoot, settling, dynamics -6. Observations recorded at 30fps in LeRobot v3 format +1. The SO-101 arm MJCF model is loaded with a red cube at a randomized position +2. FK-based inverse kinematics computes joint waypoints for each cube position +3. Collision filtering (contype/conaffinity) prevents arm links from pushing the cube +4. Position-controlled actuators (kp=100) drive the arm through approach, grasp, lift phases +5. Grasp is simulated via rigid qpos attachment (cube tracks gripper once jaws close) +6. Joint angles are **read back from the physics state** (capturing dynamics, not just targets) +7. Observations recorded at 30fps in LeRobot v3 format ## Dataset Details @@ -37,13 +38,14 @@ Each episode runs **real MuJoCo physics simulation** (mujoco-js WASM, MuJoCo 3.3 | Robot Type | arm | | Robot ID | so-101 | | FPS | 30 | -| Episodes | 5 | -| Total Frames | 600 | +| 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, 50 iterations | +| Solver | Newton, 100 iterations | | Format | LeRobot v3.0 (real Apache Parquet) | ## Joint Channels @@ -58,19 +60,23 @@ Additional feature: `observation.velocity` — joint velocities from MuJoCo dyna ## Pickup Phases Per Episode 1. **Home** (0.5s) — arm at rest position, gripper open -2. **Pre-grasp** (1.0s) — arm moves above the cube -3. **Approach** (0.8s) — arm descends to grasp position -4. **Grasp** (0.5s) — gripper closes around the cube -5. **Lift** (1.2s) — arm lifts the cube +2. **Pre-grasp** (1.8s) — arm moves above the cube +3. **Approach** (1.8s) — arm descends to grasp position +4. **Grasp** (0.8s) — gripper closes around the cube +5. **Lift** (3.0s) — arm lifts the cube to 10cm above table ## Domain Randomization -Cube position varies across episodes: -- Episode 0: cube at [18, 0, 2]cm -- Episode 1: cube at [16, 2, 2]cm -- Episode 2: cube at [20, -1, 2]cm -- Episode 3: cube at [17, 2, 2]cm -- Episode 4: cube at [15, -2, 2]cm +- 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 diff --git a/data/chunk-000/episode_000000.parquet b/data/chunk-000/episode_000000.parquet index 436de38ca24cfde719a351c97c34530db110b4bf..6dc09155b2943acaf1a8a9a4589513f654a08ddb 100644 --- a/data/chunk-000/episode_000000.parquet +++ b/data/chunk-000/episode_000000.parquet @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:979fd2cc44aaacdec27ca8b5dc0441b3e964ebe4a08e78ffc4d22ecc6cd2d914 -size 15001 +oid sha256:3b5d25d4417e0f52351e4f24d1480f3b4f197e6d30d00214195300deeb5840b7 +size 26366 diff --git a/data/chunk-000/episode_000001.parquet b/data/chunk-000/episode_000001.parquet index 46e80dadda519bc681a11cd3d04b585fd107d5da..6e57ef8529a81b76aeee40d89ab599b467939389 100644 --- a/data/chunk-000/episode_000001.parquet +++ b/data/chunk-000/episode_000001.parquet @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:370e9c86180d9ada129daffd32505beb96e04cf7e8ffbdce1c0a0aab5373420e -size 15001 +oid 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+{"episode_index":6,"tasks":"pick_object","length":227,"language_instruction":"Pick up the Red Cube at [18, 4]cm"} +{"episode_index":7,"tasks":"pick_object","length":227,"language_instruction":"Pick up the Red Cube at [21, -5]cm"} +{"episode_index":8,"tasks":"pick_object","length":227,"language_instruction":"Pick up the Red Cube at [19, 5]cm"} +{"episode_index":9,"tasks":"pick_object","length":227,"language_instruction":"Pick up the Red Cube at [17, -6]cm"} +{"episode_index":10,"tasks":"pick_object","length":227,"language_instruction":"Pick up the Red Cube at [18, 4]cm"} +{"episode_index":11,"tasks":"pick_object","length":227,"language_instruction":"Pick up the Red Cube at [15, 2]cm"} +{"episode_index":12,"tasks":"pick_object","length":227,"language_instruction":"Pick up the Red Cube at [16, 6]cm"} +{"episode_index":13,"tasks":"pick_object","length":227,"language_instruction":"Pick up the Red Cube at [16, 2]cm"} +{"episode_index":14,"tasks":"pick_object","length":227,"language_instruction":"Pick up the Red Cube at [20, -0]cm"} +{"episode_index":15,"tasks":"pick_object","length":227,"language_instruction":"Pick up the Red Cube at [19, -3]cm"} +{"episode_index":16,"tasks":"pick_object","length":227,"language_instruction":"Pick up the Red Cube at [15, -5]cm"} +{"episode_index":17,"tasks":"pick_object","length":227,"language_instruction":"Pick up the Red Cube at [20, 0]cm"} +{"episode_index":18,"tasks":"pick_object","length":227,"language_instruction":"Pick up the Red Cube at [14, -1]cm"} +{"episode_index":19,"tasks":"pick_object","length":227,"language_instruction":"Pick up the Red Cube at [16, -4]cm"} +{"episode_index":20,"tasks":"pick_object","length":227,"language_instruction":"Pick up the Red Cube at [16, -4]cm"} +{"episode_index":21,"tasks":"pick_object","length":227,"language_instruction":"Pick up the Red Cube at [14, -2]cm"} 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+{"episode_index":30,"tasks":"pick_object","length":227,"language_instruction":"Pick up the Red Cube at [16, -1]cm"} +{"episode_index":31,"tasks":"pick_object","length":227,"language_instruction":"Pick up the Red Cube at [17, 3]cm"} +{"episode_index":32,"tasks":"pick_object","length":227,"language_instruction":"Pick up the Red Cube at [15, 1]cm"} +{"episode_index":33,"tasks":"pick_object","length":227,"language_instruction":"Pick up the Red Cube at [19, -6]cm"} +{"episode_index":34,"tasks":"pick_object","length":227,"language_instruction":"Pick up the Red Cube at [16, 4]cm"} +{"episode_index":35,"tasks":"pick_object","length":227,"language_instruction":"Pick up the Red Cube at [20, -1]cm"} +{"episode_index":36,"tasks":"pick_object","length":227,"language_instruction":"Pick up the Red Cube at [18, 4]cm"} +{"episode_index":37,"tasks":"pick_object","length":227,"language_instruction":"Pick up the Red Cube at [15, 1]cm"} +{"episode_index":38,"tasks":"pick_object","length":227,"language_instruction":"Pick up the Red Cube at [16, -3]cm"} +{"episode_index":39,"tasks":"pick_object","length":227,"language_instruction":"Pick up the Red Cube at [21, 6]cm"} +{"episode_index":40,"tasks":"pick_object","length":227,"language_instruction":"Pick up the Red Cube at [22, -3]cm"} +{"episode_index":41,"tasks":"pick_object","length":227,"language_instruction":"Pick up the Red Cube at [17, -5]cm"} +{"episode_index":42,"tasks":"pick_object","length":227,"language_instruction":"Pick up the Red Cube at [18, 5]cm"} +{"episode_index":43,"tasks":"pick_object","length":227,"language_instruction":"Pick up the Red Cube at [17, -5]cm"} +{"episode_index":44,"tasks":"pick_object","length":227,"language_instruction":"Pick up the Red Cube at [21, -3]cm"} +{"episode_index":45,"tasks":"pick_object","length":227,"language_instruction":"Pick up the Red Cube at [15, 4]cm"} 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