diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..5d5ce49c7427bf22d63a348ec45e4165d42d9ead --- /dev/null +++ b/README.md @@ -0,0 +1,128 @@ +--- +license: apache-2.0 +task_categories: +- robotics +tags: +- robotics +- lerobot +- so101 +- isaac-lab +- code-as-policies +--- + +# Isaaclab So101 Stack 2 Cubes 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**: 99 + +## Tasks + +1. Stack the black block on the green block. +2. Stack the lime block on the purple block. +3. Stack the purple block on the lime block. +4. Stack the purple block on the gray block. +5. Stack the blue block on the cyan block. +6. Stack the green block on the lime block. +7. Stack the pink block on the lime block. +8. Stack the green block on the orange block. +9. Stack the lime block on the blue block. +10. Stack the lime block on the yellow block. +11. Stack the gray block on the red block. +12. Stack the gray block on the cyan block. +13. Stack the blue block on the green block. +14. Stack the green block on the pink block. +15. Stack the blue block on the black block. +16. Stack the green block on the purple block. +17. Stack the cyan block on the black block. +18. Stack the blue block on the orange block. +19. Stack the green block on the cyan block. +20. Stack the lime block on the red block. +21. Stack the pink block on the cyan block. +22. Stack the cyan block on the blue block. +23. Stack the purple block on the cyan block. +24. Stack the black block on the lime block. +25. Stack the gray block on the orange block. +26. Stack the yellow block on the green block. +27. Stack the pink block on the green block. +28. Stack the pink block on the purple block. +29. Stack the gray block on the blue block. +30. Stack the cyan block on the green block. +31. Stack the orange block on the blue block. +32. Stack the yellow block on the black block. +33. Stack the orange block on the yellow block. +34. Stack the green block on the gray block. +35. Stack the green block on the red block. +36. Stack the yellow block on the purple block. +37. Stack the orange block on the green block. +38. Stack the gray block on the pink block. +39. Stack the yellow block on the blue block. +40. Stack the purple block on the blue block. +41. Stack the purple block on the yellow block. +42. Stack the purple block on the pink block. +43. Stack the black block on the yellow block. +44. Stack the orange block on the lime block. +45. Stack the orange block on the pink block. +46. Stack the cyan block on the purple block. +47. Stack the orange block on the red block. +48. Stack the cyan block on the red block. +49. Stack the gray block on the lime block. +50. Stack the blue block on the red block. +51. Stack the blue block on the pink block. +52. Stack the cyan block on the yellow block. +53. Stack the lime block on the pink block. +54. Stack the gray block on the purple block. +55. Stack the yellow block on the orange block. +56. Stack the black block on the pink block. +57. Stack the yellow block on the lime block. +58. Stack the gray block on the green block. +59. Stack the pink block on the yellow block. +60. Stack the orange block on the gray block. +61. Stack the cyan block on the pink block. +62. Stack the pink block on the red block. +63. Stack the cyan block on the gray block. +64. Stack the blue block on the purple block. +65. Stack the blue block on the gray block. +66. Stack the black block on the gray block. +67. Stack the lime block on the black block. +68. Stack the purple block on the red block. +69. Stack the black block on the red block. +70. Stack the purple block on the black block. +71. Stack the blue block on the lime block. +72. Stack the green block on the yellow block. +73. Stack the gray block on the black block. +74. Stack the pink block on the black block. +75. Stack the pink block on the orange block. +76. Stack the black block on the cyan block. +77. Stack the cyan block on the lime block. +78. Stack the orange block on the black block. +79. Stack the yellow block on the pink block. +80. Stack the purple block on the orange block. +81. Stack the yellow block on the cyan block. +82. Stack the pink block on the blue block. +83. Stack the purple block on the green block. +84. Stack the lime block on the green block. +85. Stack the lime block on the gray block. +86. Stack the green block on the blue block. +87. Stack the lime block on the orange block. +88. Stack the cyan block on the orange block. +89. Stack the yellow block on the red block. +90. Stack the lime block on the cyan block. +91. Stack the yellow block on the gray block. +92. Stack the pink block on the gray block. +93. Stack the black block on the blue block. +94. Stack the orange block on the cyan block. +95. Stack the black block on the purple block. +96. Stack the green block on the black block. +97. Stack the gray block on the yellow block. +98. Stack the blue block on the yellow block. +99. Stack the orange block on the purple block. +- **Robot**: so101_follower +- **Cameras**: top + left-wrist RGB @ 30 fps +- **Episodes**: 300 (316,753 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..a39975d3892e55742a8c8ea5f063029c93359ffc --- /dev/null +++ b/data/chunk-000/file-000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c9a659ea531e8e5d39b38228ecd9a776d5d55ceddcb490aa0c4401901854e68 +size 38725190 diff --git a/meta/episodes/chunk-000/file-000.parquet b/meta/episodes/chunk-000/file-000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..bfe83be526bb3a3b6470fc41a52e24d83ff38171 --- /dev/null +++ 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