---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- so101
- sim2real
- isaac-lab
- newton
- sysid
configs:
- config_name: default
  data_files: data/*/*.parquet
---

# SO-101 vials-to-rack — SysID actuator fit

**This is the SysID arm.** Actuator parameters resolve from the SO-101 asset's
`physics` variant, which authors the AnchorBench system-identification fit.

Paired counterpart: [`sreetz-nv/so101_vials_actuators_hand_tuned`](https://huggingface.co/datasets/sreetz-nv/so101_vials_actuators_hand_tuned),
identical in every respect except that it substitutes the workshop's pre-SysID
hand-tuned per-joint gains. The two were collected back to back for a
controlled actuator-fit A/B; use them together or the comparison is lost.

## What it is

100 scripted-success episodes of the SO-101 arm picking a vial off a mat and
placing it in a yellow tube rack, recorded in Isaac Lab with Newton/MJWarp
physics and the OVRtx renderer. Task instruction: "Pick up the vial and place
it in the rack."

| | |
|---|---|
| episodes | 100 |
| frames | 33,441 |
| mean frames/episode | 334 |
| fps | 30 |
| robot type | `so101_follower` |
| cameras | wrist + external, 480x640 RGB |
| environment | `Newton-So101-Auto-Vials-State-Machine-DR-v0` (domain randomized) |
| collection | scripted state machine; only episodes accepted by the `success` termination term were kept |

## Actuator parameters (the variable under test)

Resolved per joint from the asset, not set in Python:

| joint | stiffness | damping | armature | static friction | viscous friction | effort limit | velocity limit |
|---|---|---|---|---|---|---|---|
| shoulder_pan | 48.42 | 3.335 | 0.0676 | 0.347 | 1.591 | 3.35 | 30 |
| shoulder_lift | 47.78 | 2.563 | 0.0276 | 0.345 | 0.561 | 3.35 | 30 |
| elbow_flex | 14.72 | 0.343 | 0.0377 | 0.411 | 0.797 | 3.35 | 30 |
| wrist_flex | 43.61 | 4.139 | 0.0507 | 0.248 | 1.072 | 3.35 | 30 |
| wrist_roll | 54.87 | 2.968 | 0.0549 | 0.222 | 1.638 | 3.35 | 30 |
| gripper | 68.25 | 2.819 | 0.0776 | 0.083 | 0.959 | 3.35 | 30 |

The grasp force servo is paired to the 68.25 N.m/rad gripper drive with gain
0.066 rad/(N.s) and a 0.198 rad/s jaw rate cap.

## Held constant against the paired dataset

Same USD asset (`so101_new_calib_SysID`) with the same `Robot`/`Sensor`/`Physics`
variants, same collision geometry, same contact material, same wrist camera and
intrinsics, same solver and `nconmax=512`, same task, same domain
randomization. Only the drive parameters differ.

## Caveats

- Sim only. Nothing here speaks to real-robot transfer.
- The paired datasets have different episode lengths (334 against 290 mean
  frames), so a fixed step budget gives the two arms different epoch counts.
- Scripted acceptance filters scene difficulty; the acceptance rate differs
  between the paired arms.