Upload SCRAPE-IsaacLab 010_pull_cube dataset

README.md

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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.

data/chunk-000/file-000.parquet

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meta/episodes/chunk-000/file-000.parquet

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meta/info.json

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+{
+    "codebase_version": "v3.0",
+    "robot_type": "so101_follower",
+    "total_episodes": 300,
+    "total_frames": 289726,
+    "total_tasks": 106,
+    "chunks_size": 1000,
+    "data_files_size_in_mb": 100,
+    "video_files_size_in_mb": 200,
+    "fps": 30,
+    "splits": {
+        "train": "0:300"
+    },
+    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
+    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
+    "features": {
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "shoulder_pan.pos",
+                "shoulder_lift.pos",
+                "elbow_flex.pos",
+                "wrist_flex.pos",
+                "wrist_roll.pos",
+                "gripper.pos"
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "shoulder_pan.pos",
+                "shoulder_lift.pos",
+                "elbow_flex.pos",
+                "wrist_flex.pos",
+                "wrist_roll.pos",
+                "gripper.pos"
+            ]
+        },
+        "observation.images.top": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.left_wrist": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.ee_pos.robot_xyzrpy": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "x",
+                "y",
+                "z",
+                "roll",
+                "pitch",
+                "yaw"
+            ]
+        },
+        "observation.gripper_binary": {
+            "dtype": "float32",
+            "shape": [
+                1
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+            "names": null
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+        "observation.state.radian_urdf0": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "shoulder_pan.pos",
+                "shoulder_lift.pos",
+                "elbow_flex.pos",
+                "wrist_flex.pos",
+                "wrist_roll.pos",
+                "gripper.pos"
+            ]
+        },
+        "action.radian_urdf0": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "shoulder_pan.pos",
+                "shoulder_lift.pos",
+                "elbow_flex.pos",
+                "wrist_flex.pos",
+                "wrist_roll.pos",
+                "gripper.pos"
+            ]
+        },
+        "skill.natural_language": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "skill.verification_question": {
+            "dtype": "string",
+            "shape": [
+                1
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+            "names": null
+        },
+        "skill.type": {
+            "dtype": "string",
+            "shape": [
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+            "names": null
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+        "skill.progress": {
+            "dtype": "float32",
+            "shape": [
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+            "names": null
+        },
+        "skill.goal_position.joint": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "shoulder_pan.pos",
+                "shoulder_lift.pos",
+                "elbow_flex.pos",
+                "wrist_flex.pos",
+                "wrist_roll.pos",
+                "gripper.pos"
+            ]
+        },
+        "skill.goal_position.robot_xyzrpy": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "x",
+                "y",
+                "z",
+                "roll",
+                "pitch",
+                "yaw"
+            ]
+        },
+        "skill.goal_position.gripper": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": [
+                "gripper.pos"
+            ]
+        },
+        "subtask.natural_language": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "subtask.object_name": {
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+            "shape": [
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+            "names": null
+        },
+        "subtask.target_position": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                "x",
+                "y",
+                "z"
+            ]
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
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+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
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+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
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+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
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+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}

meta/scrape_collection_manifest.json

@@ -0,0 +1,197 @@
+{
+  "task": "Isaac-PullCube-SO101-Single-v0",
+  "instruction": "Pull the cube to the target marker.",
+  "recording_fps": 30,
+  "hf_repo_id": "",
+  "replay_session": "results/session_20260502_123945",
+  "target_episodes": 300,
+  "final_sidecar_episodes": 300,
+  "sources": [
+    {
+      "accepted_name": "session_sel_0000_multi_20260507_012932_session_20260507_012932_w0_804928a9",
+      "source": "/data/vpraise-corl/workspace/SCRAPE-IsaacLab/results/multitask_atomic11_so101_3300ep_h264/tasks/010_pull_cube/multi_20260507_012932/session_20260507_012932_w0_804928a9",
+      "episodes_used": 9,
+      "episodes_skipped_by_quarantine": 0
+    },
+    {
+      "accepted_name": "session_sel_0001_multi_20260507_012932_session_20260507_012932_w1_0ba15e79",
+      "source": "/data/vpraise-corl/workspace/SCRAPE-IsaacLab/results/multitask_atomic11_so101_3300ep_h264/tasks/010_pull_cube/multi_20260507_012932/session_20260507_012932_w1_0ba15e79",
+      "episodes_used": 10,
+      "episodes_skipped_by_quarantine": 0
+    },
+    {
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+      "episodes_skipped_by_quarantine": 0
+    },
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