120 episodes · 20 fps · 3 cameras · 640×480 av1
SO-101 Lab01 Pick-and-Place Dataset (yaw-aware agent, v3)
Privileged-state scripted expert recorded with SO-101 SimStudio into LeRobot v3.0. Built with the post-2026-09-28 expert fixes (wrist roll aligned to the approach face, two-jaw contact gate, far-reach quality rejects). Does not overwrite v1, v2, or v2-clean.
| Hub id | alexhegit/so101-simstudio-lab01-pnp-agent-yaw-v3 |
| Robot/action | so101_mujoco, 6-D joint position |
| State | 15-D position + velocity + EE XYZ |
| EE point | fingertip site gripperframe |
| Cameras | front, top, wrist (640×480, 20 Hz) |
| Spawn | x [0.26, 0.34], y [0.165, 0.235], yaw ±45° |
| Size | 120 episodes / 52476 frames |
Composition
| Kind | Count | Notes |
|---|---|---|
| First-try success | 100 | Dual quota: 6 yaw bins × 2×2 XY cells (25 each); one grasp from home |
| Pre-close correction | 10 | Gripper still open; small align, then one grasp; full home→place |
| Partial-miss local reclose | 10 | Half-open (+0.50) miss not labeled; open in place and regrasp (no high retreat) |
Deliberate wrong actions are never saved as expert labels. Failed attempts are discarded; temporary video PNGs are cleared so episode videos match parquet length (no trailing tails).
Expert fixes vs v1 / v2
- Wrist roll chosen so the jaw axis is perpendicular to the approach-face normal (square 90° ambiguity removed).
- Approach face ranked by roll cost, then standoff reach.
- Close rejected unless both jaws contact the block (≥1 N) and pre-close tangent error ≤10 mm.
- Far-table unreachable poses are quality-rejected, not saved as empty grasps.
Collector: labs/lab01_pnp/auto_collect_yaw.py.
spawns.jsonl records spawn, yaw bin, XY cell, recovery style, and success.
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