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64a27d6 | 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 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 | # ShakeBottle selected 16,000 trajectories
This release contains exactly 16,000 selected simulated ShakeBottle trajectories,
8,000 using the left arm and 8,000 using the right arm, collected with the Piper
user real-robot URDF (piper_ros@ac41fcbc). These are simulated trajectories;
the parent directory name `real_data` does not mean real-world recordings.
Each shard contains byte-identical original HDF5 episodes under
`shard_*/data/episode*.hdf5`, their original configurations under
`shard_*/configs/episode*.json`, and episode metadata under `shard_*/manifests/`.
Three original RGB views, measured joint states, absolute joint control targets,
the raw 250 Hz stream, timestamps, calibration, and scene metadata are preserved.
Physics runs at 250 Hz with save_freq=15 (nominal observations at 16.6667 Hz).
No image conversion, resampling, normalization, or action realignment is applied.
The 5,256 unselected successful candidates and the processed NumPy training cache
are excluded. This matches the selected-trajectory publication used for ClickBell.
During publication, UPLOAD_STATUS.json says `uploading`. Wait until it says
`complete`, then check SHA256SUMS before extracting all shards into one 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/shakebottle/*")) / "real_data/shakebottle"
for archive in sorted(root.glob("shakebottle-*-of-*.tar.gz")):
with tarfile.open(archive, "r:gz") as f:
f.extractall("shakebottle_episodes", filter="data")
```
The final selection_manifest.jsonl maps all 16,000 selections to their published
archive, HDF5 member, byte count, and SHA-256, as well as the paired config hash.
source_selection_manifest.jsonl and source_summary.json preserve the original
selection. DATASET_INFO.json describes the release. SHA256SUMS covers all other
published files. Source completion markers are prefixed `source_` and describe
the source dataset, not the upload progress. Downloaded HDF5 SHA-256 hashes can
be checked against selection_manifest.jsonl to verify exact byte preservation.
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