--- 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.