zjrwtxtechstudio/soarm101_cable_groove_randomized_v1

SO-ARM101 cable-to-groove randomized MuJoCo

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Task-specific synthetic extension for zjrwtxtechstudio/soarm101__pickdata__01_20261103_190516.

This is a mixed scripted-rollout debug set containing failures. It is not neural-model inference and is not a success-only imitation-learning dataset. Use zjrwtxtechstudio/soarm101_cable_groove_success_v1 for the filtered success-only version.

Contents

• Episodes: 64
• Frames: 3225
• Successes: 28
• Failures: 36
• FPS: 5
• Cameras: 240x320 RGB

Actions and states use six SO-101 joint positions. EEF pose, EEF10, reward, done, and success labels are included.

Scene and randomization

• Ten-segment articulated cable with a connector and ball-jointed bending.
• White tray with a narrow groove and raised side rails.
• Randomized cable position, yaw, initial bend, tray position/yaw, initial joints, servo gain, and overview camera.
• A subset of episodes receives action perturbation to retain failed attempts; physically invalid states are rejected and regenerated.

Limitations

This is a rigid-segment approximation of cable mechanics, not a volumetric deformable-object reconstruction from the real videos. Simulator success is not a real-robot success claim.