pick_robosuite v1: "Hand me the {bottle | vial | syringe}" (robosuite, Franka Panda)

Scripted demonstrations of a single-arm Franka Panda picking a named object from a table and placing it in a tray. They were generated in robosuite 1.5.2 (MuJoCo 3.3.7) for the CathLab Companion project (Siemens Healthineers Hackathon 2026, challenge C2).

Episodes	384 (128 per object), all expert successes
Frames	69,191 at 20 fps (mean episode length: bottle 216, vial 162, syringe 163 steps)
Robot	Franka Panda + Franka hand, robosuite OSC_POSE (delta, base frame)
Format	LeRobot v3, robot_type: panda
Source	scripted (privileged analytic grasp templates → waypoints)

I/O (LIBERO-compatible)

Key	Shape	Meaning
action	float32[7]	Normalized to [-1, 1]: [dx, dy, dz] / 0.05 m, [drx, dry, drz] / 0.5 rad (axis-angle, robot base frame), gripper (−1 open, +1 close)
observation.state	float32[8]	End-effector position (3, base frame, table top at z = 0), end-effector axis-angle (3), 2 finger joint positions
observation.images.agentview	256×256×3 video	Fixed third-person camera (robosuite default agentview)
observation.images.eye_in_hand	256×256×3 video	Wrist camera
task	string	Instruction, one of "Hand me the {object}", "Please pass the {object}", "Can you give me the {object}"

Images are stored upright (OpenCV convention). LIBERO's raw robosuite frames are vertically flipped, so flip them if you want to match LIBERO preprocessing exactly.

Variation (training grid)

The 384 episodes are the full training grid:

• 3 target objects × 8 layouts × 4 object-colour palettes × 4 table colours;
• per episode, sampled continuously:
  • object mass × U(0.7, 1.3);
  • friction U(0.5, 1.0);
  • light intensity × U(0.7, 1.3);
  • colour temperature U(4000, 7500) K.

All three objects are always present (target + 2 distractors). Layouts 8–9, palette 4 and table colour 4 are held out for evaluation and do not appear here.

meta/episodes_extra.jsonl stores, per episode:

• the full EpisodeConfig (object, layout, colours, physics, lighting, seed);
• the instruction and step count;
• the raw shard it came from.

Objects

Object	Geometry	Mass
bottle	upright cylinder Ø62 × 250 mm (side grasp)	0.30 kg
vial	upright cylinder Ø27 × 42 mm (top grasp)	0.02 kg
syringe	lying: barrel Ø15 + plunger Ø8 + flange, 140 mm (top grasp across the barrel)	0.015 kg

The tray (inner 0.25 × 0.32 m) is fixed to the right of the pick region.

Load

from lerobot.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("Rakeshdharan56/pick_robosuite", revision="v1")

Raw per-episode .npz shards (for re-conversion) are in Rakeshdharan56/pick_robosuite_raw.