diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..77837818abf80378f8480d775a077868d55fa65e --- /dev/null +++ b/README.md @@ -0,0 +1,130 @@ +--- +license: apache-2.0 +task_categories: +- robotics +tags: +- robotics +- lerobot +- so101 +- isaac-lab +- code-as-policies +--- + +# Isaaclab So101 Push 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**: 101 + +## Tasks + +1. Push the blue cube to the cyan target marker without picking it up. +2. Push the green cube to the red target marker without picking it up. +3. Push the gray cube to the black target marker without picking it up. +4. Push the purple cube to the red target marker without picking it up. +5. Push the yellow cube to the lime target marker without picking it up. +6. Push the yellow cube to the blue target marker without picking it up. +7. Push the gray cube to the pink target marker without picking it up. +8. Push the pink cube to the black target marker without picking it up. +9. Push the purple cube to the yellow target marker without picking it up. +10. Push the pink cube to the green target marker without picking it up. +11. Push the red cube to the purple target marker without picking it up. +12. Push the purple cube to the gray target marker without picking it up. +13. Push the gray cube to the cyan target marker without picking it up. +14. Push the yellow cube to the red target marker without picking it up. +15. Push the pink cube to the lime target marker without picking it up. +16. Push the pink cube to the gray target marker without picking it up. +17. Push the green cube to the yellow target marker without picking it up. +18. Push the red cube to the gray target marker without picking it up. +19. Push the yellow cube to the gray target marker without picking it up. +20. Push the gray cube to the blue target marker without picking it up. +21. Push the green cube to the lime target marker without picking it up. +22. Push the orange cube to the lime target marker without picking it up. +23. Push the green cube to the gray target marker without picking it up. +24. Push the purple cube to the pink target marker without picking it up. +25. Push the pink cube to the yellow target marker without picking it up. +26. Push the yellow cube to the black target marker without picking it up. +27. Push the cyan cube to the black target marker without picking it up. +28. Push the lime cube to the red target marker without picking it up. +29. Push the blue cube to the purple target marker without picking it up. +30. Push the red cube to the green target marker without picking it up. +31. Push the red cube to the lime target marker without picking it up. +32. Push the cyan cube to the purple target marker without picking it up. +33. Push the yellow cube to the orange target marker without picking it up. +34. Push the lime cube to the blue target marker without picking it up. +35. Push the black cube to the blue target marker without picking it up. +36. Push the green cube to the blue target marker without picking it up. +37. Push the gray cube to the yellow target marker without picking it up. +38. Push the pink cube to the red target marker without picking it up. +39. Push the yellow cube to the green target marker without picking it up. +40. Push the cyan cube to the gray target marker without picking it up. +41. Push the lime cube to the purple target marker without picking it up. +42. Push the pink cube to the blue target marker without picking it up. +43. Push the black cube to the gray target marker without picking it up. +44. Push the black cube to the yellow target marker without picking it up. +45. Push the black cube to the orange target marker without picking it up. +46. Push the blue cube to the red target marker without picking it up. +47. Push the lime cube to the black target marker without picking it up. +48. Push the purple cube to the blue target marker without picking it up. +49. Push the cyan cube to the yellow target marker without picking it up. +50. Push the red cube to the yellow target marker without picking it up. +51. Push the blue cube to the lime target marker without picking it up. +52. Push the red cube to the black target marker without picking it up. +53. Push the green cube to the purple target marker without picking it up. +54. Push the green cube to the black target marker without picking it up. +55. Push the lime cube to the green target marker without picking it up. +56. Push the yellow cube to the cyan target marker without picking it up. +57. Push the green cube to the orange target marker without picking it up. +58. Push the black cube to the purple target marker without picking it up. +59. Push the cyan cube to the green target marker without picking it up. +60. Push the orange cube to the gray target marker without picking it up. +61. Push the green cube to the pink target marker without picking it up. +62. Push the gray cube to the purple target marker without picking it up. +63. Push the yellow cube to the purple target marker without picking it up. +64. Push the purple cube to the green target marker without picking it up. +65. Push the purple cube to the black target marker without picking it up. +66. Push the orange cube to the blue target marker without picking it up. +67. Push the gray cube to the green target marker without picking it up. +68. Push the gray cube to the orange target marker without picking it up. +69. Push the blue cube to the gray target marker without picking it up. +70. Push the black cube to the cyan target marker without picking it up. +71. Push the orange cube to the pink target marker without picking it up. +72. Push the cyan cube to the lime target marker without picking it up. +73. Push the orange cube to the yellow target marker without picking it up. +74. Push the red cube to the blue target marker without picking it up. +75. Push the green cube to the cyan target marker without picking it up. +76. Push the lime cube to the cyan target marker without picking it up. +77. Push the gray cube to the lime target marker without picking it up. +78. Push the black cube to the pink target marker without picking it up. +79. Push the cyan cube to the blue target marker without picking it up. +80. Push the cyan cube to the orange target marker without picking it up. +81. Push the blue cube to the pink target marker without picking it up. +82. Push the blue cube to the yellow target marker without picking it up. +83. Push the lime cube to the pink target marker without picking it up. +84. Push the blue cube to the black target marker without picking it up. +85. Push the pink cube to the orange target marker without picking it up. +86. Push the pink cube to the cyan target marker without picking it up. +87. Push the lime cube to the gray target marker without picking it up. +88. Push the blue cube to the green target marker without picking it up. +89. Push the black cube to the lime target marker without picking it up. +90. Push the black cube to the red target marker without picking it up. +91. Push the purple cube to the cyan target marker without picking it up. +92. Push the orange cube to the cyan target marker without picking it up. +93. Push the blue cube to the orange target marker without picking it up. +94. Push the black cube to the green target marker without picking it up. +95. Push the orange cube to the purple target marker without picking it up. +96. Push the orange cube to the red target marker without picking it up. +97. Push the red cube to the orange target marker without picking it up. +98. Push the purple cube to the orange target marker without picking it up. +99. Push the red cube to the cyan target marker without picking it up. +100. Push the red cube to the pink target marker without picking it up. +101. Push the orange cube to the black target marker without picking it up. +- **Robot**: so101_follower +- **Cameras**: top + left-wrist RGB @ 30 fps +- **Episodes**: 300 (212,936 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..6fa8ea20f48fa239635db09676ed87071703e4bc --- /dev/null +++ b/data/chunk-000/file-000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d736a12b891baa040dc20d9a0d7381de2af51c28c75c4d732051504007b4381 +size 27971866 diff --git a/meta/episodes/chunk-000/file-000.parquet b/meta/episodes/chunk-000/file-000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..d1e7eed81355ffd99baa617e5db70f4b52d1fe56 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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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