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

# Isaaclab So101 Pullcube 100Epi 10Fps Appendix

LeRobot v3.0 dataset collected via — a
Code-as-Policies replay pipeline running inside Isaac Sim 5.1 / IsaacLab 2.3.2.

- **Task instruction**: "Pull the cube to the target marker."
- **Robot**: so101_follower
- **Cameras**: top + left-wrist RGB @ 10 fps
- **Episodes**: 100 (32,208 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.