Foam Tower

Purpose & provenance

Independent MuJoCo simulation inspired by an AA-Robotics task. Objects are rigid bodies moved by jaw contact and gravity; scene and physical parameters are recorded modeling assumptions.

Public sample

Download dataset ↗

Schema / fields & files

Field and type excerpts; consult the pinned source revision and original documentation.

observation.state

float32 array[7]: five simulated joint positions / rad and two synthetic jaw slides / m; measured simulated state.

action

float32 array[7]: absolute position setpoints; first five / rad and last two / m, not measured states or torque commands.

observation.images.{left,right,overhead}

video array[288,384,3]: RGB at native 25 Hz, H.264 / MP4; video time is relative to the episode.

timestamp / source_time_s

float32 / float64: relative sequence time and absolute simulator source time, both in s.

privileged.* / annotation.*

Simulator oracle and audit/teacher fields, excluded from default policy observations. Select inputs explicitly using FEATURES.md to avoid future-information or label leakage.