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2ea37b7 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 | # ClickBell selected 16,000 trajectories
This release contains exactly **16,000 selected simulated ClickBell trajectories**: 8,000 using the left arm and 8,000 using the right arm. It was collected in simulation using the Piper real-robot URDF from `piper_ros@ac41fcbcdda598f01b51cf6175ed9a24d0dacadc`. The repository directory is named `real_data` as requested; these are **not real-world robot recordings**.
Each episode is the original, byte-identical `.hdf5` file, containing three RGB views, joint states, control targets, the raw 250 Hz control stream, camera calibration, and scene metadata. The source uses 250 Hz physics with `save_freq=15` (nominal saved observations at 16.6667 Hz). No action realignment, normalization, image conversion, or data resampling was applied during publication.
The seven `clickbell-*-of-00007.tar.gz` files contain only the selected HDF5 episodes. They exclude the 391 candidates not selected for the formal dataset and exclude collection caches and failed trajectories. Within each archive, the original `shard_*/data/episode*.hdf5` paths are retained. Extract all seven archives into the same directory.
```python
from pathlib import Path
import tarfile
from huggingface_hub import snapshot_download
root = Path(snapshot_download("INTACT-JEPA/INTACT", allow_patterns="real_data/clickbell/*")) / "real_data/clickbell"
for archive in sorted(root.glob("clickbell-*-of-00007.tar.gz")):
with tarfile.open(archive, "r:gz") as f:
f.extractall("clickbell_episodes", filter="data")
```
`selection_manifest.jsonl` has one record per selected episode with its published `archive`, `member`, byte count, and SHA-256, together with the original selection fields. `source_selection_manifest.jsonl` and `source_summary.json` preserve the original selector output. The original selection manifest SHA-256 is `215e85dcba42d81a8f52ad646254721f681a1e29de724bb3f2e3cda97165aeaf`.
`DATASET_INFO.json` records the collection and release identities. `SHA256SUMS` covers every other published file. Every source episode archive was checked against the source release SHA-256 manifest while reading it; every published HDF5 has its own SHA-256 in the selection manifest.
The inherited task, camera, action, and success contracts are retained, with the robot URDF replaced by the stated real-robot model. The `real_data` folder name does not imply a measured sim-to-real result.
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