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license: apache-2.0
task_categories:
- robotics
tags:
- robotics
- lerobot
- so101
- isaac-lab
- code-as-policies
---
# Isaaclab So101 Pull Cube Basecap 300Epi
LeRobot v3.0 dataset collected via
[SCRAPE-IsaacLab](https://github.com/vpraise00/SCRAPE-IsaacLab) — a
Code-as-Policies replay pipeline running inside Isaac Sim 5.1 / IsaacLab 2.3.2.
- **Tasks**: 106
## Tasks
1. Pull the cyan cube to the red target marker without pick-and-place.
2. Pull the blue cube to the gray target marker without pick-and-place.
3. Pull the orange cube to the cyan target marker without pick-and-place.
4. Pull the pink cube to the blue target marker without pick-and-place.
5. Pull the orange cube to the blue target marker without pick-and-place.
6. Pull the pink cube to the green target marker without pick-and-place.
7. Pull the green cube to the lime target marker without pick-and-place.
8. Pull the yellow cube to the green target marker without pick-and-place.
9. Pull the yellow cube to the blue target marker without pick-and-place.
10. Pull the black cube to the gray target marker without pick-and-place.
11. Pull the red cube to the cyan target marker without pick-and-place.
12. Pull the cyan cube to the purple target marker without pick-and-place.
13. Pull the gray cube to the black target marker without pick-and-place.
14. Pull the lime cube to the black target marker without pick-and-place.
15. Pull the pink cube to the lime target marker without pick-and-place.
16. Pull the black cube to the yellow target marker without pick-and-place.
17. Pull the cyan cube to the green target marker without pick-and-place.
18. Pull the blue cube to the red target marker without pick-and-place.
19. Pull the red cube to the green target marker without pick-and-place.
20. Pull the green cube to the pink target marker without pick-and-place.
21. Pull the pink cube to the yellow target marker without pick-and-place.
22. Pull the lime cube to the cyan target marker without pick-and-place.
23. Pull the lime cube to the blue target marker without pick-and-place.
24. Pull the green cube to the yellow target marker without pick-and-place.
25. Pull the orange cube to the red target marker without pick-and-place.
26. Pull the yellow cube to the red target marker without pick-and-place.
27. Pull the purple cube to the gray target marker without pick-and-place.
28. Pull the orange cube to the yellow target marker without pick-and-place.
29. Pull the purple cube to the yellow target marker without pick-and-place.
30. Pull the pink cube to the orange target marker without pick-and-place.
31. Pull the green cube to the black target marker without pick-and-place.
32. Pull the purple cube to the cyan target marker without pick-and-place.
33. Pull the blue cube to the lime target marker without pick-and-place.
34. Pull the gray cube to the orange target marker without pick-and-place.
35. Pull the blue cube to the orange target marker without pick-and-place.
36. Pull the black cube to the pink target marker without pick-and-place.
37. Pull the yellow cube to the gray target marker without pick-and-place.
38. Pull the green cube to the red target marker without pick-and-place.
39. Pull the red cube to the orange target marker without pick-and-place.
40. Pull the gray cube to the lime target marker without pick-and-place.
41. Pull the purple cube to the lime target marker without pick-and-place.
42. Pull the gray cube to the purple target marker without pick-and-place.
43. Pull the red cube to the pink target marker without pick-and-place.
44. Pull the orange cube to the gray target marker without pick-and-place.
45. Pull the pink cube to the gray target marker without pick-and-place.
46. Pull the blue cube to the black target marker without pick-and-place.
47. Pull the yellow cube to the purple target marker without pick-and-place.
48. Pull the black cube to the purple target marker without pick-and-place.
49. Pull the pink cube to the purple target marker without pick-and-place.
50. Pull the red cube to the yellow target marker without pick-and-place.
51. Pull the orange cube to the pink target marker without pick-and-place.
52. Pull the cyan cube to the black target marker without pick-and-place.
53. Pull the black cube to the blue target marker without pick-and-place.
54. Pull the lime cube to the gray target marker without pick-and-place.
55. Pull the yellow cube to the orange target marker without pick-and-place.
56. Pull the blue cube to the purple target marker without pick-and-place.
57. Pull the black cube to the green target marker without pick-and-place.
58. Pull the lime cube to the green target marker without pick-and-place.
59. Pull the purple cube to the green target marker without pick-and-place.
60. Pull the lime cube to the pink target marker without pick-and-place.
61. Pull the black cube to the lime target marker without pick-and-place.
62. Pull the lime cube to the red target marker without pick-and-place.
63. Pull the gray cube to the pink target marker without pick-and-place.
64. Pull the cyan cube to the pink target marker without pick-and-place.
65. Pull the cyan cube to the blue target marker without pick-and-place.
66. Pull the purple cube to the black target marker without pick-and-place.
67. Pull the red cube to the black target marker without pick-and-place.
68. Pull the gray cube to the blue target marker without pick-and-place.
69. Pull the purple cube to the red target marker without pick-and-place.
70. Pull the cyan cube to the orange target marker without pick-and-place.
71. Pull the yellow cube to the cyan target marker without pick-and-place.
72. Pull the yellow cube to the lime target marker without pick-and-place.
73. Pull the blue cube to the green target marker without pick-and-place.
74. Pull the pink cube to the red target marker without pick-and-place.
75. Pull the green cube to the cyan target marker without pick-and-place.
76. Pull the orange cube to the purple target marker without pick-and-place.
77. Pull the red cube to the lime target marker without pick-and-place.
78. Pull the gray cube to the cyan target marker without pick-and-place.
79. Pull the pink cube to the black target marker without pick-and-place.
80. Pull the cyan cube to the gray target marker without pick-and-place.
81. Pull the lime cube to the yellow target marker without pick-and-place.
82. Pull the orange cube to the green target marker without pick-and-place.
83. Pull the gray cube to the yellow target marker without pick-and-place.
84. Pull the orange cube to the lime target marker without pick-and-place.
85. Pull the purple cube to the blue target marker without pick-and-place.
86. Pull the blue cube to the cyan target marker without pick-and-place.
87. Pull the yellow cube to the pink target marker without pick-and-place.
88. Pull the lime cube to the purple target marker without pick-and-place.
89. Pull the green cube to the purple target marker without pick-and-place.
90. Pull the red cube to the gray target marker without pick-and-place.
91. Pull the red cube to the blue target marker without pick-and-place.
92. Pull the black cube to the cyan target marker without pick-and-place.
93. Pull the blue cube to the yellow target marker without pick-and-place.
94. Pull the gray cube to the green target marker without pick-and-place.
95. Pull the pink cube to the cyan target marker without pick-and-place.
96. Pull the gray cube to the red target marker without pick-and-place.
97. Pull the yellow cube to the black target marker without pick-and-place.
98. Pull the black cube to the red target marker without pick-and-place.
99. Pull the cyan cube to the yellow target marker without pick-and-place.
100. Pull the green cube to the blue target marker without pick-and-place.
101. Pull the orange cube to the black target marker without pick-and-place.
102. Pull the green cube to the orange target marker without pick-and-place.
103. Pull the lime cube to the orange target marker without pick-and-place.
104. Pull the blue cube to the pink target marker without pick-and-place.
105. Pull the purple cube to the pink target marker without pick-and-place.
106. Pull the green cube to the gray target marker without pick-and-place.
- **Robot**: so101_follower
- **Cameras**: top + left-wrist RGB @ 30 fps
- **Episodes**: 300 (289,726 frames total)
- **Labels**: per-frame natural-language skill labels in ``skill.natural_language``
and ``subtask.*`` columns (labeled by Gemini)
Generated on Isaac Sim 5.1 / IsaacLab 2.3.2 under Python 3.11, CUDA 12.1.
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