---
license: apache-2.0
task_categories:
- robotics
tags:
- robotics
- lerobot
- so101
- isaac-lab
- code-as-policies
---

# Isaaclab So101 Pull Cube Basecap 100Epi 10Fps

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**: 71

## Tasks

1. Pull the green cube to the pink target marker without pick-and-place.
2. Pull the blue cube to the purple target marker without pick-and-place.
3. Pull the pink cube to the blue target marker without pick-and-place.
4. Pull the gray cube to the pink target marker without pick-and-place.
5. Pull the orange cube to the black target marker without pick-and-place.
6. Pull the purple cube to the yellow target marker without pick-and-place.
7. Pull the pink cube to the green target marker without pick-and-place.
8. Pull the red cube to the green target marker without pick-and-place.
9. Pull the green cube to the gray target marker without pick-and-place.
10. Pull the pink cube to the lime target marker without pick-and-place.
11. Pull the pink cube to the red target marker without pick-and-place.
12. Pull the pink cube to the yellow target marker without pick-and-place.
13. Pull the black cube to the pink target marker without pick-and-place.
14. Pull the orange cube to the pink target marker without pick-and-place.
15. Pull the black cube to the purple target marker without pick-and-place.
16. Pull the yellow cube to the purple target marker without pick-and-place.
17. Pull the green cube to the lime target marker without pick-and-place.
18. Pull the yellow cube to the black target marker without pick-and-place.
19. Pull the yellow cube to the green target marker without pick-and-place.
20. Pull the gray cube to the purple target marker without pick-and-place.
21. Pull the green cube to the red target marker without pick-and-place.
22. Pull the yellow cube to the lime target marker without pick-and-place.
23. Pull the blue cube to the gray target marker without pick-and-place.
24. Pull the gray cube to the lime target marker without pick-and-place.
25. Pull the black cube to the yellow target marker without pick-and-place.
26. Pull the yellow cube to the pink target marker without pick-and-place.
27. Pull the gray cube to the blue target marker without pick-and-place.
28. Pull the pink cube to the purple target marker without pick-and-place.
29. Pull the orange cube to the green target marker without pick-and-place.
30. Pull the red cube to the cyan target marker without pick-and-place.
31. Pull the black cube to the red target marker without pick-and-place.
32. Pull the cyan cube to the green target marker without pick-and-place.
33. Pull the orange cube to the yellow target marker without pick-and-place.
34. Pull the green cube to the purple target marker without pick-and-place.
35. Pull the purple cube to the black target marker without pick-and-place.
36. Pull the blue cube to the orange target marker without pick-and-place.
37. Pull the lime cube to the purple target marker without pick-and-place.
38. Pull the blue cube to the red target marker without pick-and-place.
39. Pull the purple cube to the blue target marker without pick-and-place.
40. Pull the purple cube to the green target marker without pick-and-place.
41. Pull the pink cube to the cyan target marker without pick-and-place.
42. Pull the lime cube to the green target marker without pick-and-place.
43. Pull the lime cube to the red target marker without pick-and-place.
44. Pull the red cube to the black target marker without pick-and-place.
45. Pull the orange cube to the blue target marker without pick-and-place.
46. Pull the purple cube to the pink target marker without pick-and-place.
47. Pull the lime cube to the cyan target marker without pick-and-place.
48. Pull the green cube to the orange target marker without pick-and-place.
49. Pull the red cube to the lime target marker without pick-and-place.
50. Pull the green cube to the black target marker without pick-and-place.
51. Pull the blue cube to the pink target marker without pick-and-place.
52. Pull the orange cube to the cyan target marker without pick-and-place.
53. Pull the blue cube to the black target marker without pick-and-place.
54. Pull the red cube to the blue target marker without pick-and-place.
55. Pull the orange cube to the gray target marker without pick-and-place.
56. Pull the cyan cube to the blue target marker without pick-and-place.
57. Pull the yellow cube to the gray target marker without pick-and-place.
58. Pull the red cube to the gray target marker without pick-and-place.
59. Pull the black cube to the green target marker without pick-and-place.
60. Pull the purple cube to the red target marker without pick-and-place.
61. Pull the orange cube to the red target marker without pick-and-place.
62. Pull the lime cube to the black target marker without pick-and-place.
63. Pull the green cube to the yellow target marker without pick-and-place.
64. Pull the black cube to the blue target marker without pick-and-place.
65. Pull the gray cube to the orange target marker without pick-and-place.
66. Pull the purple cube to the lime target marker without pick-and-place.
67. Pull the gray cube to the cyan target marker without pick-and-place.
68. Pull the cyan cube to the gray target marker without pick-and-place.
69. Pull the green cube to the blue target marker without pick-and-place.
70. Pull the gray cube to the black target marker without pick-and-place.
71. Pull the lime cube to the pink target marker without pick-and-place.
- **Robot**: so101_follower
- **Cameras**: top + left-wrist RGB @ 10 fps
- **Episodes**: 100 (32,228 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.