action listlengths 6 6 | observation.state listlengths 6 6 | timestamp float32 0 14.6 | frame_index int64 0 439 | episode_index int64 0 535 | index int64 0 209k | task_index int64 0 0 | task stringclasses 1
value |
|---|---|---|---|---|---|---|---|
[
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] | 0 | 0 | 0 | 0 | 0 | pick up the 2cm cube and place it in the bin |
[
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] | 0.033333 | 1 | 0 | 1 | 0 | pick up the 2cm cube and place it in the bin |
[
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] | 0.066667 | 2 | 0 | 2 | 0 | pick up the 2cm cube and place it in the bin |
[
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] | 0.1 | 3 | 0 | 3 | 0 | pick up the 2cm cube and place it in the bin |
[
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] | 0.133333 | 4 | 0 | 4 | 0 | pick up the 2cm cube and place it in the bin |
[
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] | 0.166667 | 5 | 0 | 5 | 0 | pick up the 2cm cube and place it in the bin |
[
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] | 0.2 | 6 | 0 | 6 | 0 | pick up the 2cm cube and place it in the bin |
[
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] | 0.233333 | 7 | 0 | 7 | 0 | pick up the 2cm cube and place it in the bin |
[
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] | 0.266667 | 8 | 0 | 8 | 0 | pick up the 2cm cube and place it in the bin |
[
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] | 0.3 | 9 | 0 | 9 | 0 | pick up the 2cm cube and place it in the bin |
[
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] | 0.333333 | 10 | 0 | 10 | 0 | pick up the 2cm cube and place it in the bin |
[
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] | 0.366667 | 11 | 0 | 11 | 0 | pick up the 2cm cube and place it in the bin |
[
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] | 0.4 | 12 | 0 | 12 | 0 | pick up the 2cm cube and place it in the bin |
[
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] | 0.433333 | 13 | 0 | 13 | 0 | pick up the 2cm cube and place it in the bin |
[
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] | 0.466667 | 14 | 0 | 14 | 0 | pick up the 2cm cube and place it in the bin |
[
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] | 0.5 | 15 | 0 | 15 | 0 | pick up the 2cm cube and place it in the bin |
[
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] | 0.533333 | 16 | 0 | 16 | 0 | pick up the 2cm cube and place it in the bin |
[
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] | 0.566667 | 17 | 0 | 17 | 0 | pick up the 2cm cube and place it in the bin |
[
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] | 0.6 | 18 | 0 | 18 | 0 | pick up the 2cm cube and place it in the bin |
[
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] | 0.633333 | 19 | 0 | 19 | 0 | pick up the 2cm cube and place it in the bin |
[
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] | 0.666667 | 20 | 0 | 20 | 0 | pick up the 2cm cube and place it in the bin |
[
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] | 0.7 | 21 | 0 | 21 | 0 | pick up the 2cm cube and place it in the bin |
[
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] | 0.733333 | 22 | 0 | 22 | 0 | pick up the 2cm cube and place it in the bin |
[
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] | 0.766667 | 23 | 0 | 23 | 0 | pick up the 2cm cube and place it in the bin |
[
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] | 0.8 | 24 | 0 | 24 | 0 | pick up the 2cm cube and place it in the bin |
[
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] | 0.833333 | 25 | 0 | 25 | 0 | pick up the 2cm cube and place it in the bin |
[
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] | 0.866667 | 26 | 0 | 26 | 0 | pick up the 2cm cube and place it in the bin |
[
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] | 0.9 | 27 | 0 | 27 | 0 | pick up the 2cm cube and place it in the bin |
[
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] | 0.933333 | 28 | 0 | 28 | 0 | pick up the 2cm cube and place it in the bin |
[
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] | 0.966667 | 29 | 0 | 29 | 0 | pick up the 2cm cube and place it in the bin |
[
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] | 1 | 30 | 0 | 30 | 0 | pick up the 2cm cube and place it in the bin |
[
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] | 1.033333 | 31 | 0 | 31 | 0 | pick up the 2cm cube and place it in the bin |
[
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] | [
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] | 1.066667 | 32 | 0 | 32 | 0 | pick up the 2cm cube and place it in the bin |
[
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] | 1.1 | 33 | 0 | 33 | 0 | pick up the 2cm cube and place it in the bin |
[
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] | 1.133333 | 34 | 0 | 34 | 0 | pick up the 2cm cube and place it in the bin |
[
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] | [
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] | 1.166667 | 35 | 0 | 35 | 0 | pick up the 2cm cube and place it in the bin |
[
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] | [
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] | 1.2 | 36 | 0 | 36 | 0 | pick up the 2cm cube and place it in the bin |
[
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] | [
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] | 1.233333 | 37 | 0 | 37 | 0 | pick up the 2cm cube and place it in the bin |
[
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] | [
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] | 1.266667 | 38 | 0 | 38 | 0 | pick up the 2cm cube and place it in the bin |
[
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] | [
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] | 1.3 | 39 | 0 | 39 | 0 | pick up the 2cm cube and place it in the bin |
[
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] | 1.333333 | 40 | 0 | 40 | 0 | pick up the 2cm cube and place it in the bin |
[
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] | 1.366667 | 41 | 0 | 41 | 0 | pick up the 2cm cube and place it in the bin |
[
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] | [
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] | 1.4 | 42 | 0 | 42 | 0 | pick up the 2cm cube and place it in the bin |
[
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] | [
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1.555580496788025,
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] | 1.433333 | 43 | 0 | 43 | 0 | pick up the 2cm cube and place it in the bin |
[
-0.2494148313999176,
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1.5551522970199585,
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] | 1.466667 | 44 | 0 | 44 | 0 | pick up the 2cm cube and place it in the bin |
[
-0.2532951533794403,
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] | 1.5 | 45 | 0 | 45 | 0 | pick up the 2cm cube and place it in the bin |
[
-0.2567906677722931,
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1.5500959157943726,
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] | 1.533333 | 46 | 0 | 46 | 0 | pick up the 2cm cube and place it in the bin |
[
-0.2598213255405426,
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] | 1.566667 | 47 | 0 | 47 | 0 | pick up the 2cm cube and place it in the bin |
[
-0.2623862624168396,
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1.5240283012390137,
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1.5412415266036987,
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] | 1.6 | 48 | 0 | 48 | 0 | pick up the 2cm cube and place it in the bin |
[
-0.2645118832588196,
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1.5196728706359863,
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1.5363678932189941,
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] | 1.633333 | 49 | 0 | 49 | 0 | pick up the 2cm cube and place it in the bin |
[
-0.266249418258667,
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] | 1.666667 | 50 | 0 | 50 | 0 | pick up the 2cm cube and place it in the bin |
[
-0.2676670253276825,
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1.5272718667984009,
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0.686981201171875
] | 1.7 | 51 | 0 | 51 | 0 | pick up the 2cm cube and place it in the bin |
[
-0.2688402533531189,
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1.511343002319336,
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1.5233707427978516,
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] | 1.733333 | 52 | 0 | 52 | 0 | pick up the 2cm cube and place it in the bin |
[
-0.26984459161758423,
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1.509580135345459,
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] | 1.766667 | 53 | 0 | 53 | 0 | pick up the 2cm cube and place it in the bin |
[
-0.27074819803237915,
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1.5080503225326538,
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] | 1.8 | 54 | 0 | 54 | 0 | pick up the 2cm cube and place it in the bin |
[
-0.27160516381263733,
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1.5066282749176025,
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1.5144821405410767,
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] | 1.833333 | 55 | 0 | 55 | 0 | pick up the 2cm cube and place it in the bin |
[
-0.27245014905929565,
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] | 1.866667 | 56 | 0 | 56 | 0 | pick up the 2cm cube and place it in the bin |
[
-0.273295134305954,
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1.5038397312164307,
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] | 1.9 | 57 | 0 | 57 | 0 | pick up the 2cm cube and place it in the bin |
[
-0.2741401195526123,
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1.5024453401565552,
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] | 1.933333 | 58 | 0 | 58 | 0 | pick up the 2cm cube and place it in the bin |
[
-0.27498510479927063,
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1.5010510683059692,
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] | 1.966667 | 59 | 0 | 59 | 0 | pick up the 2cm cube and place it in the bin |
[
-0.27583009004592896,
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] | 2 | 60 | 0 | 60 | 0 | pick up the 2cm cube and place it in the bin |
[
-0.2766750752925873,
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] | 2.033333 | 61 | 0 | 61 | 0 | pick up the 2cm cube and place it in the bin |
[
-0.2775200605392456,
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] | 2.066667 | 62 | 0 | 62 | 0 | pick up the 2cm cube and place it in the bin |
[
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1.4954638481140137,
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] | 2.1 | 63 | 0 | 63 | 0 | pick up the 2cm cube and place it in the bin |
[
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1.494020938873291,
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] | 2.133333 | 64 | 0 | 64 | 0 | pick up the 2cm cube and place it in the bin |
[
-0.2800152599811554,
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] | 2.166667 | 65 | 0 | 65 | 0 | pick up the 2cm cube and place it in the bin |
[
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1.4908289909362793,
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] | 2.2 | 66 | 0 | 66 | 0 | pick up the 2cm cube and place it in the bin |
[
-0.2815494239330292,
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1.4889609813690186,
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] | 2.233333 | 67 | 0 | 67 | 0 | pick up the 2cm cube and place it in the bin |
[
-0.2822400629520416,
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1.486828327178955,
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] | [
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1.4930744171142578,
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] | 2.266667 | 68 | 0 | 68 | 0 | pick up the 2cm cube and place it in the bin |
[
-0.282863587141037,
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1.484374761581421,
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] | [
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1.4913064241409302,
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] | 2.3 | 69 | 0 | 69 | 0 | pick up the 2cm cube and place it in the bin |
[
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1.4815555810928345,
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] | [
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1.489344596862793,
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] | 2.333333 | 70 | 0 | 70 | 0 | pick up the 2cm cube and place it in the bin |
[
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1.478342056274414,
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] | [
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] | 2.366667 | 71 | 0 | 71 | 0 | pick up the 2cm cube and place it in the bin |
[
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] | [
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1.4846504926681519,
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] | 2.4 | 72 | 0 | 72 | 0 | pick up the 2cm cube and place it in the bin |
[
-0.2845531702041626,
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1.4707121849060059,
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] | [
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1.4818419218063354,
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] | 2.433333 | 73 | 0 | 73 | 0 | pick up the 2cm cube and place it in the bin |
[
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1.466334342956543,
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] | [
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1.478692889213562,
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] | 2.466667 | 74 | 0 | 74 | 0 | pick up the 2cm cube and place it in the bin |
[
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1.461635708808899,
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] | [
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1.4751962423324585,
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] | 2.5 | 75 | 0 | 75 | 0 | pick up the 2cm cube and place it in the bin |
[
-0.2850274443626404,
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1.4566725492477417,
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] | [
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1.471359372138977,
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] | 2.533333 | 76 | 0 | 76 | 0 | pick up the 2cm cube and place it in the bin |
[
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1.4515072107315063,
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] | [
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1.4672044515609741,
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] | 2.566667 | 77 | 0 | 77 | 0 | pick up the 2cm cube and place it in the bin |
[
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1.446202278137207,
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] | [
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1.4627636671066284,
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] | 2.6 | 78 | 0 | 78 | 0 | pick up the 2cm cube and place it in the bin |
[
-0.28512144088745117,
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1.4408140182495117,
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] | [
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1.4580787420272827,
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] | 2.633333 | 79 | 0 | 79 | 0 | pick up the 2cm cube and place it in the bin |
[
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1.435387134552002,
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] | [
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] | 2.666667 | 80 | 0 | 80 | 0 | pick up the 2cm cube and place it in the bin |
[
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1.4299503564834595,
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] | [
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1.4481583833694458,
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] | 2.7 | 81 | 0 | 81 | 0 | pick up the 2cm cube and place it in the bin |
[
-0.2851230800151825,
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1.4245136976242065,
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] | [
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1.443008542060852,
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] | 2.733333 | 82 | 0 | 82 | 0 | pick up the 2cm cube and place it in the bin |
[
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1.419076919555664,
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] | [
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1.4377777576446533,
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] | 2.766667 | 83 | 0 | 83 | 0 | pick up the 2cm cube and place it in the bin |
[
-0.2851227819919586,
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1.4136401414871216,
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] | [
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1.4324886798858643,
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] | 2.8 | 84 | 0 | 84 | 0 | pick up the 2cm cube and place it in the bin |
[
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1.408203363418579,
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] | [
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1.4271576404571533,
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] | 2.833333 | 85 | 0 | 85 | 0 | pick up the 2cm cube and place it in the bin |
[
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1.4027667045593262,
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] | [
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1.4217967987060547,
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] | 2.866667 | 86 | 0 | 86 | 0 | pick up the 2cm cube and place it in the bin |
[
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1.3973299264907837,
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] | [
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End of preview. Expand in Data Studio
SO-101 Sim Pick-and-Place (3 scenes)
Simulated pick-and-place demonstrations for the SO-101 arm, generated in ManiSkill3 / SAPIEN with a robot model and object geometry matched to a real KIT desktop rig.
| Scene | Object | Episodes | Task |
|---|---|---|---|
cube40 |
40 mm cube | ~512 | pick up the 4cm cube and place it in the bin |
cube20 |
20 mm cube | ~536 | pick up the 2cm cube and place it in the bin |
cylinder40 |
40 mm cylinder (upright, grasped on the round face) | ~525 | pick up the 4cm cylinder and place it in the bin |
What is in each episode
- Two cameras, both 128×128 RGB, matching the physical rig:
observation.images.top— overhead, mounted on the frame, sees the whole workspaceobservation.images.wrist— mounted on the gripper, sees the object being grasped
observation.state— 6-DoF joint positionsaction— 6-DoF joint targets- 30 fps
Every episode is a complete pick-and-place: approach → align → descend → close → carry → release → return. Not lift-only.
How the data was made
Trajectories are produced by a scripted servo controller (feed-forward planning with smoothing and tip-velocity retiming), not by a learned policy. Each episode is checked against quality gates before being kept:
- Grasp depth (cube top face minus lowest jaw point): median 40.3 mm / 18.0 mm / 38.7 mm for cube40 / cube20 / cylinder40 — the jaws close around the object rather than pinching a corner.
- Carry tilt (object's vertical axis vs. world z during transport): ≤ 6°.
- Tip acceleration gated to suppress jittery trajectories.
Known limitations — please read before using
- Joint speed exceeds the real SO-101 envelope during large motions. The recordings
use absolute joint targets, a control path with no per-step increment clamp, so the PD
controller moves as fast as it needs to. Measured against real-robot p95:
liftreaches 158%,elbow141%. Fine contact phases (closing, releasing) are within envelope. If you need real-robot-executable timing, retime the trajectories against per-joint per-step limits — path is unchanged, it just takes ~32% longer. - Simulation is faster than the real robot by roughly 3× in wall-clock pacing.
- These are demonstrations, not a benchmark. There is no held-out split and no standardized evaluation protocol.
The simulator is open source
The environments, robot model, and assets used to generate this data are in
Xbotics-Embodied-AI-Handbook
under code/platform/so101_sim/. Three environments are registered:
SO101PickPlaceCube40-v1, SO101PickPlaceCube20-v1, SO101PickPlaceCylinder40-v1.
Because every episode stores full env_states, trajectories can be replayed in the
simulator to re-render at any resolution or from any camera.
License
Apache-2.0. The simulator builds on squint (MIT) and ManiSkill3 (Apache-2.0); SO-101 meshes are from TheRobotStudio (Apache-2.0).
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