diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..85e5822f6bff517941ce4ce21cbf42b514f1e7b2 --- /dev/null +++ b/README.md @@ -0,0 +1,135 @@ +--- +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. diff --git a/data/chunk-000/file-000.parquet b/data/chunk-000/file-000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..31de49865fc19b58dd23c3af499a84a5fbecd0d7 --- /dev/null +++ b/data/chunk-000/file-000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:12d16e4c51a67bda71a6b24e31f301ae88f14c9ac956586a68eb0a04cc9e8972 +size 34355479 diff --git a/meta/episodes/chunk-000/file-000.parquet b/meta/episodes/chunk-000/file-000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..1c760806c949a5f69b69f50c58b22d4c7bebb2f5 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"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, + 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