place_cube_into_eurobox_g2

101 clean demonstrations of an AgiBot G2 (omnipicker gripper, right arm) picking a black 4 cm cube from a table and placing it into a Eurobox-style storage container. Collected in Genie Sim 3.2 (Isaac Sim 5.1) via cuRobo motion planning — no teleoperation noise, no injected perturbations. Every episode passed automated quality control (verified grasp, gripper in view, cube at rest inside the box).

Format

LeRobot v2.1 — 101 episodes, 33,307 frames @ 30 fps.

Feature	Shape	Notes
observation.state	159	joints (pos/vel/effort), EE poses, waist, head, camera extrinsics
action	40	grippers, EE pose, 14 arm joints, head, waist, base velocity
observation.images.top_head	720p video	head camera (color + depth variant)
observation.images.hand_left	480p video	left wrist camera (color + depth)
observation.images.hand_right	480p video	right wrist camera (color + depth)

Randomization: cube spawn position (front-right table region), storage-box position (back center-right region); fixed right arm; centered top-down grasps.

Provenance & license

Generated with the Genie Sim data-collection pipeline using GenieSimAssets (CC BY-NC-SA 4.0). This dataset inherits CC BY-NC-SA 4.0 — non-commercial, share-alike.

Custom task config (place_cube_into_eurobox_001): black cube via runtime color override, QC rules include is_object_grasped_by_gripper and containment check (±10 cm relative to box frame).