real_data/shakebottle/README.md

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:

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.