SO-101 Tabletop MuJoCo Environment Release
Overview
LeRobot has released an open-source MuJoCo simulation environment for the SO-101 robotic arm, enabling tabletop manipulation tasks like placing cubes into a box. The environment includes front and wrist camera observations, joint position controls, and is compatible with both MuJoCo and Isaac Sim. It is available under an Apache-2.0 license.
From LeRobot — Model repository updates
Event evidence and corrections
1 attributed source owners. Ownership does not establish independent confirmation. Quantities are reported separately and are never added together.
Environment: simulation
“SO-101 tabletop (MuJoCo) A LeRobot EnvHub environment: an SO-101 arm in the turquoise of the LeRobot kits, four painted wooden 3 cm cubes (red, green, blue, yellow) and a green open box on a table in a simple room, simulated with MuJoCo. Each reset places the cubes, the box and the front camera with seeded offsets. An Isaac Sim version with the same layout, cameras, observations and actions is lerobot/so101-tabletop-”
Exact source · revision 6huggingface
Reported quantity · observation pixels: 480 other · Basis not reported · Differing source assertions
“isaac : the same policies and commands run against both. Observation pixels : front (scene camera) and wrist (gripper camera), 480×640 RGB; agent_pos : 6 joint positions Action 6 absolute joint position targets: shoulder_pan , shoulder_lift , elbow_flex , wrist_flex , wrist_roll in degrees, gripper 0-100 (the units of LeRobot's so101_follower with use_degrees=True ) Control rate 30 fps Task "Put all the cubes in the”
Exact source · revision 6huggingface
Reported quantity · observation pixels: 640 other · Basis not reported · Differing source assertions
“isaac : the same policies and commands run against both. Observation pixels : front (scene camera) and wrist (gripper camera), 480×640 RGB; agent_pos : 6 joint positions Action 6 absolute joint position targets: shoulder_pan , shoulder_lift , elbow_flex , wrist_flex , wrist_roll in degrees, gripper 0-100 (the units of LeRobot's so101_follower with use_degrees=True ) Control rate 30 fps Task "Put all the cubes in the”
Exact source · revision 6huggingface
Reported quantity · joint positions: 6 other · Basis not reported
“isaac : the same policies and commands run against both. Observation pixels : front (scene camera) and wrist (gripper camera), 480×640 RGB; agent_pos : 6 joint positions Action 6 absolute joint position targets: shoulder_pan , shoulder_lift , elbow_flex , wrist_flex , wrist_roll in degrees, gripper 0-100 (the units of LeRobot's so101_follower with use_degrees=True ) Control rate 30 fps Task "Put all the cubes in the”
Exact source · revision 6huggingface
Reported quantity · gripper position: 0 other · Basis not reported
“isaac : the same policies and commands run against both. Observation pixels : front (scene camera) and wrist (gripper camera), 480×640 RGB; agent_pos : 6 joint positions Action 6 absolute joint position targets: shoulder_pan , shoulder_lift , elbow_flex , wrist_flex , wrist_roll in degrees, gripper 0-100 (the units of LeRobot's so101_follower with use_degrees=True ) Control rate 30 fps Task "Put all the cubes in the”
Exact source · revision 6huggingface
Reported quantity · control rate: 30 other · Basis not reported
“isaac : the same policies and commands run against both. Observation pixels : front (scene camera) and wrist (gripper camera), 480×640 RGB; agent_pos : 6 joint positions Action 6 absolute joint position targets: shoulder_pan , shoulder_lift , elbow_flex , wrist_flex , wrist_roll in degrees, gripper 0-100 (the units of LeRobot's so101_follower with use_degrees=True ) Control rate 30 fps Task "Put all the cubes in the”
Exact source · revision 6huggingface
Reported quantity · episode length: 3600 other · Basis not reported
“green box." Reward the fraction of cubes in the box at each step (0, 0.25, ... 1); info["cubes_in_box"] gives the count Episode end success (terminated) when all four cubes are in the box; truncated after 3600 steps (2 minutes), set with episode_length Reset seeded cube and box poses, front camera jitter, joint noise With the LeRobot simulator server From a LeRobot checkout, start the server. The image installs requi”
Exact source · revision 6huggingface
Reported quantity · number of cubes: 4 other · Basis not reported
“green box." Reward the fraction of cubes in the box at each step (0, 0.25, ... 1); info["cubes_in_box"] gives the count Episode end success (terminated) when all four cubes are in the box; truncated after 3600 steps (2 minutes), set with episode_length Reset seeded cube and box poses, front camera jitter, joint noise With the LeRobot simulator server From a LeRobot checkout, start the server. The image installs requi”
Exact source · revision 6huggingface
Evidence dependency changes (4)
- 2026-10-30T22:52:20.020Z · evidence updated · source revision 6. Evidence extraction was updated; current source attributions are shown above.
- 2026-10-30T22:52:06.069Z · evidence updated · source revision 6. Evidence extraction was updated; current source attributions are shown above.
- 2026-10-29T02:53:54.158Z · evidence updated · source revision 6. Evidence extraction was updated; current source attributions are shown above.
- 2026-10-28T03:35:43.257Z · evidence updated · source revision 5. Evidence extraction was updated; current source attributions are shown above.
Report timeline
Follow attributed reports and material updates.
- LeRobot — Model repository updatesSignalLeRobot Releases SO-101 Tabletop MuJoCo Environment
LeRobot has released an open-source MuJoCo simulation environment for the SO-101 robotic arm, enabling tabletop manipulation tasks like placing cubes into a box. The environment includes front and wrist camera observations, joint position controls, and is compatible with both MuJoCo and Isaac Sim. It is available under an Apache-2.0 license.
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