The arm's joints, lengths and limits are the SO‑101 URDF's (same code as tab 5); its shapes are simplified. Grasping and falling are toys: no contact physics. Mission 7's policy is a small network that is handed the cube's position.
One frame of a LeRobot episode
joint
state
action
no episode recorded yet
WASD move the hand · E up · Q down · Space grip (the jaws take a cube they close around)
1–5 turn a joint · hold Shift to turn it the other way · Space grip
V wrist view · R record · P replay / run · N next mission
Click the scene once so the keys reach it. Drag it to look around; scroll to zoom. The mat's bold lines are 100 mm apart.
The arm's joints, lengths and limits are the SO‑101 URDF's, the same code as tab 5. Its shapes are simplified. Grasping and falling are toys: no contact physics. The gripper camera is this bench's own; the real SO‑101 dataset used two fixed cameras. The policy in mission 7 is a small network that is handed the cube's position.
wrist camera · what a policy sees
Click to start drivingW A S D move the hand · E up · Q down · Space grips
This page needs WebGL, and this browser didn't start it.The rest of Arm Playground works without it: tab 5 shows the same arm in 3D on a plain canvas.